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Fixed-time Output Feedback Consensus of Second-order Multi-agent Systems with Settling Time Estimation

Ding Zhou*, An Zhang*, and Pan Yang
International Journal of Control, Automation, and Systems, vol. 18, no. 8, pp.2061-2074, 2020

Abstract : This study discusses fixed-time consensus problem of second-order multi-agent systems with unmeasurable velocity and uncertain disturbance. The proposed control scheme includes two parts: one part is a fixed-time convergent state observer to estimate the unknown velocity while the other part is a fixed-time consensus algorithm based on integral sliding mode. Mathematical proof is given and some stability conditions are derived. Moreover, the settling time depends on the parameters of state observer and consensus algorithm, which can be theoretically estimated offline regardless of initial states. Finally, the proposed control scheme is employed to coordinated control of single-link robotic manipulators and the simulation examples verify the efficiency of the results.

Keyword : Disturbances, fixed-time consensus, integral sliding mode, settling time, unmeasurable velocity

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