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Communication Dans Un Congrès Année : 2020

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

Résumé

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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Dates et versions

hal-03009054 , version 1 (17-11-2020)

Identifiants

Citer

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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