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

Michael Defoort (1) , Andrey Polyakov (2) , Guillaume Demesure (1) , Mohamed Djemai (1) , Kalyana Chakravarthy Veluvolu (3)

1 LAMIH - Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201
2 NON-A - Non-Asymptotic estimation for online systems
3 KNU - Kyungpook National University [Daegu]

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.

Mots clés: Multi-agent system; Consensus; Fixed-time convergence; Distributed tracking

Domaines: Automatique

Michael Defoort, Andrey Polyakov, Guillaume Demesure, Mohamed Djemai, Kalyana Chakravarthy Veluvolu. Leader-follower fixed-time consensus for multi–agent systems with unknown nonlinear inherent dynamics. IET Control Theory and Applications, 2015, 9 (14), pp.2165-2170. ⟨10.1049/iet-cta.2014.1301⟩. ⟨hal-01215015⟩