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Control strategy for fixed-time leader–follower consensus for multi-agent systems with chained-form dynamics

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Abstract

This paper is concerned with the fixed-time consensus problem of multiple chained-form systems under matched perturbations. In this study, the leader (which can be dynamic) only transmits its state and control input to its neighbors. For each agent, a decentralized observer is designed to estimate the leader state in a fixed-time. Contrary to finite-time schemes, the estimation of the settling time does not require the knowledge of the initial state, allowing a step-by-step design for the controller. A decentralized observer-based control protocol is proposed for each agent to solve the leader–follower consensus problem in a fixed-time. This paper ends with a numerical example showing the effectiveness of the proposed approach.

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Acknowledgements

This work was partially supported by the European Community, the Regional Delegation for research and technology, the Haut de France Region, the Ministry of Higher Education and Research and the National Center for Scientific Research under the UVHC BI-CFNes and PHC NUSANTARA projects.

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Authors and Affiliations

  1. LAMIH UMR CNRS 8201, Université Polytechnique Hauts-de-France, 59313, Valenciennes, France

    Pipit Anggraeni, Michael Defoort & Mohamed Djemai

  2. Seventh Research Division Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing, 100191, China

    Zongyu Zuo

Authors
  1. Pipit Anggraeni
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  2. Michael Defoort
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  3. Mohamed Djemai
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  4. Zongyu Zuo
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Correspondence to Pipit Anggraeni.

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Anggraeni, P., Defoort, M., Djemai, M. et al. Control strategy for fixed-time leader–follower consensus for multi-agent systems with chained-form dynamics. Nonlinear Dyn 96, 2693–2705 (2019). https://doi.org/10.1007/s11071-019-04953-3

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  • DOI: https://doi.org/10.1007/s11071-019-04953-3

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