Distributed fixed-time control of high-order multi-agent systems with non-holonomic constraints

In this paper, a protocol is proposed for fixed-time consensus of the high-order chained-form multi-agent systems subject to non-holonomic constraints. By employing the backstepping structure and a power integrator, the distributed fixed-time protocol is designed to guarantee that system states reac...

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Bibliographic Details
Published inJournal of the Franklin Institute Vol. 358; no. 6; pp. 2948 - 2963
Main Authors Chen, Yanyu, Zhu, Bing
Format Journal Article
LanguageEnglish
Published Elmsford Elsevier Ltd 01.04.2021
Elsevier Science Ltd
Subjects
Artificial insemination
Electric power distribution
Graph theory
Initial conditions
Multiagent systems
Nonlinear systems
Robots
Topology
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ISSN0016-0032
1879-2693
0016-0032
DOI10.1016/j.jfranklin.2021.02.006

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Summary:In this paper, a protocol is proposed for fixed-time consensus of the high-order chained-form multi-agent systems subject to non-holonomic constraints. By employing the backstepping structure and a power integrator, the distributed fixed-time protocol is designed to guarantee that system states reach consensus before a fixed time. The fixed settling time can be calculated explicitly, and it is independent of initial conditions. The proposed protocol is applied to multi-agent wheeled mobile robots to support the theoretical result.
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ISSN:0016-0032
1879-2693
0016-0032
DOI:10.1016/j.jfranklin.2021.02.006