Distributed fixed-time control of high-order multi-agent systems with non-holonomic constraints |
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| Authors: | Yanyu Chen Bing Zhu |
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| Institution: | 1. The Seventh Research Division, Beihang University, Beijing 100191, PR China;2. The 45th Research Institute, China Electronics Technology Group Corporation, Beijing 100176, China;3. School of Industrial and Information Engineering, Politecnico di Milano, Milan 20133, Italy;1. School of Mathematical Sciences, Shanxi University, Taiyuan 030006, China;2. Institute of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China;1. School of Automation, Chongqing University, Chongqing 400044, China;2. Key laboratory of Dependable Service Computing in Cyber Physical Society, Ministry of Education, Chongqing University, Chongqing 400044, China |
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| Abstract: | In this paper, a protocol is proposed for fixed-time consensus of the high-order chained-form multi-agent systems subject to non-holonomic constraints. By employing the backstepping structure and a power integrator, the distributed fixed-time protocol is designed to guarantee that system states reach consensus before a fixed time. The fixed settling time can be calculated explicitly, and it is independent of initial conditions. The proposed protocol is applied to multi-agent wheeled mobile robots to support the theoretical result. |
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