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Fixed-time Consensus Tracking for Second-order Leader-follower Multiagent Systems with Nonlinear Dynamics Under Directed Topology

Cong Wang, Cheng-Lin Liu*, Yang-Yang Chen, and Ya Zhang
International Journal of Control, Automation, and Systems, vol. 19, no. 8, pp.2697-2705, 2021

Abstract : In this paper, we address the fixed-time consensus tracking problem of second-order leader-follower multi-agent systems with nonlinear dynamics under directed topology. The consensus tracking algorithm consists of distributed observer and observer-based decentralized controller. The fixed-time distributed observer guarantees that each follower estimates the leader’s state under directed topology within a fixed time, where the upper bound of convergence time is independent on the initial conditions. The fixed-time decentralized controller makes each follower converge to the leader’s state in fixed time via tracking the distributed observer’s state and overcome the nonlinear dynamics without adding linear control terms. Finally, the numerical example is provided to illustrate the effectiveness of the results.

Keyword : Directed topology, distributed observer, fixed-time consensus tracking, leader-follower multi-agent systems, nonlinear dynamics.

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