Fast Output Consensus Tracking of Heterogeneous Multi-Agent Systems Under Directed Graphs via a Fixed-Time Control Strategy

Haikuo Liu, Changkun Du*, Pingli Lu, Xiangdong Liu

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)

Abstract

The brief is concerned with the fast output consensus tracking problem of heterogeneous multi-agent systems (MASs) under the digraph with a directed spanning tree. A novel fixed-time control protocol is proposed within the hierarchical framework, which not only endows a feature of faster convergency but also offers a more flexible estimation on the settling time comparing with asymptotic and finite-time protocols. Within the developed protocol, the challenge and complexity caused by heterogeneities of agents' dynamics and generalities of communication topologies can be fairly handled by recasting the fixed-time output consensus tracking problem into the problems of cooperative fixed-time estimation and local fixed-time tracking, separately. In upper layer, an elaborate potential function is designed to construct the fixed-time dynamic cooperative compensator to realize fast estimation of leader's states. In lower layer, based on the implicit Lyapunov function approach, a local fixed-time tracking controller is designed for each agent to track the compensator's states. Based on the incorporation of above two layers, each agent can track leader's output within a fixed time.

Original languageEnglish
Pages (from-to)3459-3463
Number of pages5
JournalIEEE Transactions on Circuits and Systems II: Express Briefs
Volume70
Issue number9
DOIs
Publication statusPublished - 1 Sept 2023

Keywords

  • Heterogeneous multi-agent systems
  • fixed-time control
  • implicit Lyapunov function
  • output consensus tracking

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