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Time-varying formation tracking control for high-order nonlinear multi-agent systems in fixed-time framework

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  • Yang, Haijiao
  • Ye, Dan

Abstract

In this paper, we investigate the time-varying formation tracking control (TVFTC) problem for high-order uncertain nonlinear multi-agent systems (MASs) with a dynamic leader. Both unknown disturbances and uncertain nonlinear functions are considered. A novel fixed-time TVFTC strategy is proposed with two steps, which can avoid the communication loop problem. Firstly, a distributed fixed-time observer (DFTO) for the directed graph is introduced, such that the leader’s information can be accurately obtained by each agent within a bounded time. Secondly, by using fixed-time technique, a Lyapunov-function-based design process has been schemed to avoid the singularity problem. The developed TVFTC protocols can ensure all the followers achieve the desired time-varying formation and track the leader simultaneously. Furthermore, according to practical requirements, the configuration of formation can be chosen as arbitrary shape and the corresponding convergence time is allowed to be pre-estimated or preset. Stability analysis and some simulation examples for the control strategy are given, which further verify the validity.

Suggested Citation

  • Yang, Haijiao & Ye, Dan, 2020. "Time-varying formation tracking control for high-order nonlinear multi-agent systems in fixed-time framework," Applied Mathematics and Computation, Elsevier, vol. 377(C).
    • Handle: RePEc:eee:apmaco:v:377:y:2020:i:c:s0096300320300886
    DOI: 10.1016/j.amc.2020.125119
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    References listed on IDEAS

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    1. Zhao, Lin & Yu, Jinpeng & Lin, Chong & Yu, Haisheng, 2017. "Distributed adaptive fixed-time consensus tracking for second-order multi-agent systems using modified terminal sliding mode," Applied Mathematics and Computation, Elsevier, vol. 312(C), pages 23-35.
    2. Lee, Tae H. & Park, Ju H. & Jung, Hoyoul, 2018. "Network-based H∞ state estimation for neural networks using imperfect measurement," Applied Mathematics and Computation, Elsevier, vol. 316(C), pages 205-214.
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    Cited by:

    1. Xu, Ziqiang & Li, Yun & Zhan, Xisheng & Yan, Huaicheng & Han, Yiyan, 2024. "Time-varying formation of uncertain nonlinear multi-agent systems via adaptive feedback control approach with event-triggered impulsive estimator," Applied Mathematics and Computation, Elsevier, vol. 475(C).
    2. Yao, Hejun & Gao, Fangzheng & Huang, Jiacai & Wu, Yuqiang, 2021. "Global prescribed-time stabilization via time-scale transformation for switched nonlinear systems subject to switching rational powers," Applied Mathematics and Computation, Elsevier, vol. 393(C).
    3. Miao, Suoxia & Su, Housheng, 2024. "Behaviors of matrix-weighted networks with antagonistic interactions," Applied Mathematics and Computation, Elsevier, vol. 467(C).
    4. Li, Weihua & Zhang, Huaguang & Wang, Wei & Cao, Zhengbao, 2022. "Fully distributed event-triggered time-varying formation control of multi-agent systems subject to mode-switching denial-of-service attacks," Applied Mathematics and Computation, Elsevier, vol. 414(C).

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