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https://hdl.handle.net/2440/74501
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Type: | Journal article |
Title: | Robust consensus algorithm for second-order multi-agent systems with external disturbances |
Author: | Du, H. Li, S. Shi, P. |
Citation: | International Journal of Control, 2012; 85(12):1913-1928 |
Publisher: | Taylor & Francis Ltd |
Issue Date: | 2012 |
ISSN: | 0020-7179 1366-5820 |
Statement of Responsibility: | Haibo Du, Shihua Li and Peng Shi |
Abstract: | This article investigates the problem of robust consensus for second-order multi-agent systems with external disturbances. Based on a non-smooth backstepping control technique, a class of novel continuous non-smooth consensus algorithms are proposed for the multi-agent network with/without communication delays. The controller design is divided into two steps. First, for the kinematic subsystem, the velocity is regarded as a virtual input and designed such that the states consensus can be achieved asymptotically. Then for the dynamic subsystem, a finite-time control law is designed such that the virtual velocity can be tracked by the real velocity in a finite time. Under the proposed control law, it is shown that if the communication topology graph contains a directed spanning tree, the states consensus can be achieved asymptotically in the absence of disturbances. In the presence of disturbances, the steady-state errors of any two agents can reach a small region around the origin. By building a relationship between control parameters and the bound of steady tracking errors, it is demonstrated that the disturbance rejection performance of the resulting closed-loop system can be enhanced by adjusting the fractional power in the non-smooth controller. Finally, an example is given to verify the efficiency of the proposed method. |
Keywords: | robust consensus multi-agent system finite-time control non-smooth control communication delay |
Rights: | © 2012 Taylor & Francis |
DOI: | 10.1080/00207179.2012.713515 |
Published version: | http://dx.doi.org/10.1080/00207179.2012.713515 |
Appears in Collections: | Aurora harvest 4 Electrical and Electronic Engineering publications |
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