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Fixed-time convergent consensus algorithm of networked nonholonomic multi-agent systems

Abstract : In this paper, the problem of fixed-time leader-follower consensus problem of nonholonomic multi-agent systems is under study. Using the "desingularisation method" introduced in the seminal paper by J.M. Coron [5], new fixed-time controllers/observers for the double integrator system are designed. Following those results, a switching consensus protocol which guarantees the tracking errors stabilization in fixed-time which does not depend on the initial conditions of the multi-agent system is provided. Simulation results on a fleet of wheeled mobile robots show the effectiveness of the proposed scheme.
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https://hal.archives-ouvertes.fr/hal-03009054
Contributor : Thierry Floquet Connect in order to contact the contributor
Submitted on : Tuesday, November 17, 2020 - 9:53:27 AM
Last modification on : Wednesday, June 8, 2022 - 4:11:19 PM
Long-term archiving on: : Thursday, February 18, 2021 - 6:31:06 PM

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Michael Defoort, Thierry Floquet, Wilfrid Perruquetti. Fixed-time convergent consensus algorithm of networked nonholonomic multi-agent systems. 59th IEEE Conference on Decision and Control (CDC), Dec 2020, Jeju Island (Virtual), South Korea. ⟨10.1109/CDC42340.2020.9303940⟩. ⟨hal-03009054⟩

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