Abstract
This article proposes a novel local interaction rule providing leader-following and leader-less consensus in a network of nonlinear uncertain first-order agents communicating through a connected and switching graph topology. Particularly, the proposed interaction rule guarantees that consensus is achieved after a finite settling time, which admits an upper bound independent of the initial conditions of the agents' states. This property, called fixed-time convergence, is achieved, thanks to homogeneous polynomial terms of suitable order in the local interaction rule. A Lyapunov-based analysis is presented to support the convergence features of the proposed interaction protocol. Simulation results are presented in order to corroborate the theoretical findings.
Original language | English |
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Pages (from-to) | 3841-3858 |
Number of pages | 18 |
Journal | International Journal of Robust and Nonlinear Control |
Volume | 31 |
Issue number | 9 |
DOIs | |
State | Published - Jun 2021 |
Keywords
- consensus
- fixed time convergence
- leader following consensus
- multi-agent systems
- sliding mode control