Appointed-Time Leader-Following Consensus for Second-Order Multi-Agent Systems with Prescribed Performance Guarantees
The appointed-time leader-following consensus problem for second-order multi-agent systems with external disturbance on directed graphs is addressed. A distributed controller based on the cumulative position difference and cumulative velocity difference is proposed, which does not require prior know...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-05-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/13/10/5937 |
| _version_ | 1797601249655259136 |
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| author | Hongfei Wang Zichuang Li Wenfeng Hu |
| author_facet | Hongfei Wang Zichuang Li Wenfeng Hu |
| author_sort | Hongfei Wang |
| collection | DOAJ |
| description | The appointed-time leader-following consensus problem for second-order multi-agent systems with external disturbance on directed graphs is addressed. A distributed controller based on the cumulative position difference and cumulative velocity difference is proposed, which does not require prior knowledge of external disturbances. It is shown that the proposed controller guarantees the prescribed performance of the controlled systems, namely, to keep the cumulative position difference within a predefined boundary envelope. Furthermore, by employing a novel performance function, it is ensured that the position tracking error converges to an arbitrarily small expected region within the appointed time. Different from most existing finite/fixed-time control methods, here the settling time and the convergence region can both be predefined, which are also independent of initial conditions and the system parameters. Finally, the theoretical results are verified by simulations. |
| first_indexed | 2024-03-11T03:58:30Z |
| format | Article |
| id | doaj.art-3e4431ef48834e74a49857a2f50cd369 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-11T03:58:30Z |
| publishDate | 2023-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-3e4431ef48834e74a49857a2f50cd3692023-11-18T00:17:59ZengMDPI AGApplied Sciences2076-34172023-05-011310593710.3390/app13105937Appointed-Time Leader-Following Consensus for Second-Order Multi-Agent Systems with Prescribed Performance GuaranteesHongfei Wang0Zichuang Li1Wenfeng Hu2School of Automation, Central South University, Changsha 410017, ChinaSchool of Automation, Central South University, Changsha 410017, ChinaSchool of Automation, Central South University, Changsha 410017, ChinaThe appointed-time leader-following consensus problem for second-order multi-agent systems with external disturbance on directed graphs is addressed. A distributed controller based on the cumulative position difference and cumulative velocity difference is proposed, which does not require prior knowledge of external disturbances. It is shown that the proposed controller guarantees the prescribed performance of the controlled systems, namely, to keep the cumulative position difference within a predefined boundary envelope. Furthermore, by employing a novel performance function, it is ensured that the position tracking error converges to an arbitrarily small expected region within the appointed time. Different from most existing finite/fixed-time control methods, here the settling time and the convergence region can both be predefined, which are also independent of initial conditions and the system parameters. Finally, the theoretical results are verified by simulations.https://www.mdpi.com/2076-3417/13/10/5937leader-following consensusprescribed performanceappointed-time controlmulti-agent systems (MASs) |
| spellingShingle | Hongfei Wang Zichuang Li Wenfeng Hu Appointed-Time Leader-Following Consensus for Second-Order Multi-Agent Systems with Prescribed Performance Guarantees Applied Sciences leader-following consensus prescribed performance appointed-time control multi-agent systems (MASs) |
| title | Appointed-Time Leader-Following Consensus for Second-Order Multi-Agent Systems with Prescribed Performance Guarantees |
| title_full | Appointed-Time Leader-Following Consensus for Second-Order Multi-Agent Systems with Prescribed Performance Guarantees |
| title_fullStr | Appointed-Time Leader-Following Consensus for Second-Order Multi-Agent Systems with Prescribed Performance Guarantees |
| title_full_unstemmed | Appointed-Time Leader-Following Consensus for Second-Order Multi-Agent Systems with Prescribed Performance Guarantees |
| title_short | Appointed-Time Leader-Following Consensus for Second-Order Multi-Agent Systems with Prescribed Performance Guarantees |
| title_sort | appointed time leader following consensus for second order multi agent systems with prescribed performance guarantees |
| topic | leader-following consensus prescribed performance appointed-time control multi-agent systems (MASs) |
| url | https://www.mdpi.com/2076-3417/13/10/5937 |
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