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Taylor and Francis Group, International Journal of Control, 12(85), p. 1913-1928

DOI: 10.1080/00207179.2012.713515

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Robust consensus algorithm for second-order multi-agent systems with external disturbances

Journal article published in 2012 by Haibo Du, Shihua Li ORCID, Peng Shi
This paper was not found in any repository, but could be made available legally by the author.
This paper was not found in any repository, but could be made available legally by the author.

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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. ; Haibo Du, Shihua Li and Peng Shi