Fixed-Time Anti-Disturbance Average-Tracking for Multi-Agent Systems Without Velocity Measurements

LI Yuling, LIU Chenglin, ZHANG Ya, CHEN Yangyang

Journal of Systems Science & Complexity ›› 2024, Vol. 37 ›› Issue (3) : 985-1002.

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Journal of Systems Science & Complexity ›› 2024, Vol. 37 ›› Issue (3) : 985-1002. DOI: 10.1007/s11424-023-2461-9

Fixed-Time Anti-Disturbance Average-Tracking for Multi-Agent Systems Without Velocity Measurements

  • LI Yuling1, LIU Chenglin1, ZHANG Ya2, CHEN Yangyang2
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Abstract

In this paper, the authors tackle a fixed-time average-tracking problem for multi-agent systems which do not require velocity measurements and are affected by external mismatched and matched disturbances. The objective requires the considered agents with second-order dynamics to follow the average value of several time-varying reference signals, each of which is acquired by only one agent. First of all, the average value is estimated by using a novel distributed average estimator in a fixed time. Second, an original observer is created to provide estimated values in a fixed time for external mismatched and matched disturbances as well as unmeasured velocities of agents. Then, the authors propose a novel fixed-time anti-disturbance average-tracking protocol with the aid of the observer and a sliding mode surface. In the end, the feasibility of theoretical analysis is illustrated by some simulation experiments.

Key words

Average-tracking control / fixed-time algorithm / fixed-time observer / mismatched disturbances / multi-agent systems / velocity measurements

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LI Yuling , LIU Chenglin , ZHANG Ya , CHEN Yangyang. Fixed-Time Anti-Disturbance Average-Tracking for Multi-Agent Systems Without Velocity Measurements. Journal of Systems Science & Complexity, 2024, 37(3): 985-1002 https://doi.org/10.1007/s11424-023-2461-9

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Funding

This research was supported by the National Natural Science Foundation of China under Grant Nos. 61973139, 61973082 and 61473138, and the Fundamental Research Funds for the Central Universities under Grant No. JUSRP22014.
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