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Control strategy for fixed-time leader–follower consensus for multi-agent systems with chained-form dynamics

Abstract : This paper is concerned with the fixed-time consensus problem of multiple chained-form systems under matched perturbations. In this study, the leader (which can be dynamic) only transmits its state and control input to its neighbors. For each agent, a decentralized observer is designed to estimate the leader state in a fixed-time. Contrary to finite-time schemes, the estimation of the settling time does not require the knowledge of the initial state, allowing a step-by-step design for the controller. A decentralized observer-based control protocol is proposed for each agent to solve the leader–follower consensus problem in a fixed-time. This paper ends with a numerical example showing the effectiveness of the proposed approach.
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https://hal-uphf.archives-ouvertes.fr/hal-03480208
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Submitted on : Tuesday, December 14, 2021 - 3:30:18 PM
Last modification on : Tuesday, January 4, 2022 - 6:07:47 AM

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  • HAL Id : hal-03480208, version 1

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Pipit Anggraeni, Michael Defoort, Mohamed Djemai, Zongyu Zuo. Control strategy for fixed-time leader–follower consensus for multi-agent systems with chained-form dynamics. Nonlinear Dynamics, Springer Verlag, 2019, 96 (4), pp. 2693-2705. ⟨hal-03480208⟩

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