Leader-follower fixed-time consensus for multi–agent systems with unknown nonlinear inherent dynamics

Abstract : This paper focuses on the design of fixed-time consensus for first order multi-agent systems with unknown inherent nonlinear dynamics. A distributed control protocol, based on local information, is proposed to ensure the convergence of the tracking errors in finite time. Some conditions are derived to select the controller gains in order to obtain a prescribed convergence time regardless of the initial conditions. Simulations are performed to validate the theoretical results.
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https://hal.inria.fr/hal-01215015
Contributor : Andrey Polyakov <>
Submitted on : Tuesday, October 13, 2015 - 2:53:30 PM
Last modification on : Friday, March 22, 2019 - 1:35:28 AM
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Michael Defoort, Andrey Polyakov, Guillaume Demesure, Mohamed Djemai. Leader-follower fixed-time consensus for multi–agent systems with unknown nonlinear inherent dynamics. IET Control Theory and Applications, Institution of Engineering and Technology, 2015. ⟨hal-01215015⟩

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