Distributed Fixed-Time Attitude Consensus Tracking Control for Multiple Rigid-Bodies Subject to Unknown Uncertainties

• Published in: Machines (Basel) Vol. 10; no. 5; p. 383
• Main Authors: Jiang, Sen, Yang, Zhong, Gao, Yuxin, Xu, Hao, Xu, Changliang
• Format: Journal Article
• Language: English
• Published: Basel MDPI AG 16.05.2022
• Subjects: attitude consensus; Attitudes; Control algorithms; Control systems; Control theory; Eigenvalues; Feedback control; fixed-time control; Multi-agent systems; multiple rigid-bodies; Rigid bodies (Physics); Robustness (mathematics); Spacecraft; Stability analysis; Tracking control; Tracking systems; Uncertainty; unknown uncertainties; Unmanned aerial vehicles; Velocity; China
• ISSN: 2075-1702; 2075-1702
• DOI: 10.3390/machines10050383

This paper investigates the problem of fixed-time attitude consensus tracking control for a team of multiple rigid-bodies in the presence of unknown uncertainties. A robust exact distributed fixed-time observer is presented to estimate velocity state of the virtual-leader for the followers that could not directly access information of the virtual-leader. Subsequently, a novel distributed fixed-time consensus tracking control law is proposed, by which consensus tracking for a team of multiple rigid-bodies could be achieved in a fixed-time regardless of any initial system state. When the proposed control scheme is applied, effects of time-varying disturbances acting on each follower could drastically be attenuated. Analysis on stability of the closed-loop system is rigorously given and effectiveness of the proposed control scheme is verified by numerical simulations.