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Non-singular Finite-Time Consensus Tracking Protocols for Second-Order Multi-agent Systems

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Advances in Swarm Intelligence (ICSI 2021)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 12690))

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Abstract

This paper surveys non-singular finite-time consensus tracking issues for second-order multi-agent systems subject to external disturbance. The consensus tracking protocol utilizes the sliding mode control methodology. Firstly, a novel non-singular sliding mode manifold is designed for each agent dynamics, and it ensures the finite-time convergence once the error trajectory reaches it. Further, two non-singular consensus protocols are developed so as to drive the error trajectory towards the assigned sliding mode manifold in finite time. However, the settling time with the first protocol scheme cannot be assessed due to its dependence on transient states. To overcome this dilemma, another protocol scenario is exploited, with which the settling time is assignable off-line using available initial information states and control parameters. Finite-time consensus tracking results are demonstrated based on Lyapunov stability theorems. Eventually, simulations verify the performance of the developed protocols.

This work has been supported in part by the National Natural Science Foundation of China under Grants 61933001, 62073028, and 62061160371; in part by the Scientific and Technological Innovation Foundation of Shunde Graduate School under Grant BK19AE014; and in part by the Beijing Top Discipline for Artificial Intelligent Science and Engineering, University of Science and Technology Beijing.

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Authors and Affiliations

  1. School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, 100083, People’s Republic of China

    Yao Zou, Wenfu Yang, Zixuan Wang & Wei He

  2. Institute of Artificial Intelligence, University of Science and Technology Beijing, Beijing, 100083, People’s Republic of China

    Yao Zou, Wenfu Yang, Zixuan Wang & Wei He

  3. School of Computer and Communication Engineering, University of Science and Technology Beijing, Beijing, 100083, People’s Republic of China

    Keping Long

Authors
  1. Yao Zou
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  2. Wenfu Yang
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  3. Zixuan Wang
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  4. Keping Long
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  5. Wei He
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Corresponding author

Correspondence to Yao Zou .

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Editors and Affiliations

  1. Peking University, Beijing, China

    Ying Tan

  2. Southern University of Science and Technology, Shenzhen, China

    Yuhui Shi

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Zou, Y., Yang, W., Wang, Z., Long, K., He, W. (2021). Non-singular Finite-Time Consensus Tracking Protocols for Second-Order Multi-agent Systems. In: Tan, Y., Shi, Y. (eds) Advances in Swarm Intelligence. ICSI 2021. Lecture Notes in Computer Science(), vol 12690. Springer, Cham. https://doi.org/10.1007/978-3-030-78811-7_18

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  • DOI: https://doi.org/10.1007/978-3-030-78811-7_18

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-78810-0

  • Online ISBN: 978-3-030-78811-7

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