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https://hdl.handle.net/2440/74501
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DC Field | Value | Language |
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dc.contributor.author | Du, H. | - |
dc.contributor.author | Li, S. | - |
dc.contributor.author | Shi, P. | - |
dc.date.issued | 2012 | - |
dc.identifier.citation | International Journal of Control, 2012; 85(12):1913-1928 | - |
dc.identifier.issn | 0020-7179 | - |
dc.identifier.issn | 1366-5820 | - |
dc.identifier.uri | http://hdl.handle.net/2440/74501 | - |
dc.description.abstract | This article investigates the problem of robust consensus for second-order multi-agent systems with external disturbances. Based on a non-smooth backstepping control technique, a class of novel continuous non-smooth consensus algorithms are proposed for the multi-agent network with/without communication delays. The controller design is divided into two steps. First, for the kinematic subsystem, the velocity is regarded as a virtual input and designed such that the states consensus can be achieved asymptotically. Then for the dynamic subsystem, a finite-time control law is designed such that the virtual velocity can be tracked by the real velocity in a finite time. Under the proposed control law, it is shown that if the communication topology graph contains a directed spanning tree, the states consensus can be achieved asymptotically in the absence of disturbances. In the presence of disturbances, the steady-state errors of any two agents can reach a small region around the origin. By building a relationship between control parameters and the bound of steady tracking errors, it is demonstrated that the disturbance rejection performance of the resulting closed-loop system can be enhanced by adjusting the fractional power in the non-smooth controller. Finally, an example is given to verify the efficiency of the proposed method. | - |
dc.description.statementofresponsibility | Haibo Du, Shihua Li and Peng Shi | - |
dc.language.iso | en | - |
dc.publisher | Taylor & Francis Ltd | - |
dc.rights | © 2012 Taylor & Francis | - |
dc.source.uri | http://dx.doi.org/10.1080/00207179.2012.713515 | - |
dc.subject | robust consensus | - |
dc.subject | multi-agent system | - |
dc.subject | finite-time control | - |
dc.subject | non-smooth control | - |
dc.subject | communication delay | - |
dc.title | Robust consensus algorithm for second-order multi-agent systems with external disturbances | - |
dc.type | Journal article | - |
dc.identifier.doi | 10.1080/00207179.2012.713515 | - |
pubs.publication-status | Published | - |
dc.identifier.orcid | Shi, P. [0000-0001-8218-586X] | - |
Appears in Collections: | Aurora harvest 4 Electrical and Electronic Engineering publications |
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