Prescribed finite-time consensus with severe unknown nonlinearities and mismatched disturbances
- Authors
- Zheng, Shiqi; Ahn, Choon Ki; Shi, Peng; Xie, Yuanlong
- Issue Date
- 11월-2021
- Publisher
- ELSEVIER
- Keywords
- MAS; Prescribed finite-time consensus; Time-varying disturbance observer
- Citation
- SYSTEMS & CONTROL LETTERS, v.157
- Indexed
- SCIE
SCOPUS
- Journal Title
- SYSTEMS & CONTROL LETTERS
- Volume
- 157
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/135894
- DOI
- 10.1016/j.sysconle.2021.105047
- ISSN
- 0167-6911
- Abstract
- This paper considers the problem of prescribed finite-time leader-following consensus for a class of second-order multi-agent systems (MAS). Compared to the existing methods, the dynamics of the followers in the proposed method is rather general, containing some severe unknown nonlinearities and mismatched disturbances. First, a time-varying distributed observer is proposed to estimate the leader information in prescribed finite time. The leader is driven by a control input that is unknown to all the followers. Then, a new composite controller with a time-varying disturbance observer is presented. By gracefully combining the barrier Lyapunov functions and logic-based switching rules, we show that the unknown nonlinearities and mismatched disturbances can be well handled. Thus, the prescribed finite-time consensus problem can be solved. Finally, by the properties of Lyapunov functions and time-varying gains, we present a new method to show that the control signals are bounded. A simulation example is provided to verify the effectiveness of the proposed method. (C) 2021 Elsevier B.V. All rights reserved.
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