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Fixed-Time Formation Tracking Control of Nonlinear Multi-Agent Systems with Directed Topology and Disturbance

Author

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  • Zhiyong Luo

    (School of Mathematics and Physics, University of South China, Hengyang 421001, China)

  • Hongliang Liu

    (School of Mathematics and Physics, University of South China, Hengyang 421001, China
    Hunan Key Laboratory of Mathematical Modeling and Scientific Computing, University of South China, Hengyang 421001, China)

  • Zigen Ouyang

    (School of Mathematics and Physics, University of South China, Hengyang 421001, China
    Hunan Key Laboratory of Mathematical Modeling and Scientific Computing, University of South China, Hengyang 421001, China)

Abstract

In this paper, we study the fixed-time formation (FixF) control problem for the nonlinear second-order multi-agent systems (MASs) with directed graph, where all agents are subject to communication disturbances. To overcome the bounded disturbance of communication and to guarantee the realization of predesignated formation within a fixed-time, a suitable FixF control protocol based on the backstepping method is proposed. Furthermore, to eliminate the dependence of the control parameters on global information, a new adaptive FixF control protocol is provided to combine with some mild conditions of control gain such that the formation with acceptable bounded error of MASs can be achieved within a fixed-time. Finally, the theoretical results are verified by two simulation examples, one of the simulation examples is that we set the desired formation as a regular octagon and the desired formation motion trajectory as a circle, the results show that all agents can form formation motion within a fixed-time.

Suggested Citation

  • Zhiyong Luo & Hongliang Liu & Zigen Ouyang, 2023. "Fixed-Time Formation Tracking Control of Nonlinear Multi-Agent Systems with Directed Topology and Disturbance," Mathematics, MDPI, vol. 11(13), pages 1-17, June.
    • Handle: RePEc:gam:jmathe:v:11:y:2023:i:13:p:2849-:d:1179054
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    References listed on IDEAS

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    1. Zongyu Zuo & Lin Tie, 2016. "Distributed robust finite-time nonlinear consensus protocols for multi-agent systems," International Journal of Systems Science, Taylor & Francis Journals, vol. 47(6), pages 1366-1375, April.
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