A new finite-time cooperative control algorithm for uncertain multi-agent systems

ABSTRACT

In this paper, the problem of fixed-time consensus tracking control is investigated for multi-agent networks with input uncertain dynamics under the undirected graph. First, a nonsingular terminal sliding mode manifold is proposed, with which the convergence time is globally bounded irrelevant to initial states. Then, with the aid of the observer method and sliding mode technique, the distributed nonsingular controller is designed for the underlying system to ensure that the consensus tracking errors go into sliding mode manifold and converge to origin within a desired time. Finally, examples are presented to verify the validity of the new control strategy.

KEYWORDS:

• Fixed-time
• multi-agent systems
• undirected topology
• nonsingular sliding mode

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Notes on contributors

Ge Song

Ge Song received the B.S. degree and M.S. degree in Harbin University of Science and Technology, China in 2014 and 2017; her research interests include finite-time control, fixed-time control, multi-agent systems, sliding mode control and event-triggered control. She is currently working toward the Ph.D. degree with Harbin Engineering University, China.

Peng Shi

Peng Shi received the Ph.D. degree in Electrical Engineering from the University of Newcastle, Australia in 1994; and the Ph.D. degree in Mathematics from the University of South Australia in 1998. He was awarded the Doctor of Science degree from the University of Glamorgan, Wales in 2006; and the Doctor of Engineering degree from the University of Adelaide, Australia in 2015. He is now a professor at the University of Adelaide. His research interests include system and control theory, intelligent systems, and operational research. He is a Member-at-Large of Board of Governors, IEEE SMC Society, and an IEEE Distinguished Lecturer. He is a Fellow of the Institute of Electrical and Electronic Engineers, the Institution of Engineering and Technology, and the Institute of Engineers, Australia. He received the Andrew Sage Best Transactions Paper Award from IEEE SMC Society in 2016. He has served on the editorial board of a number of journals in the fields of automation, fuzzy systems, cybernetics, signal processing and information sciences.

Shuoyu Wang

Shuoyu Wang received the B.Sc. degree and the M.Sc. degree in Control Engineering from Shenyang University of Technology, China in 1983 and 1988; and the Ph.D. degree in Electrical Engineering from Hokkaido University, Japan in 1993. Dr Shuoyu Wang is currently a professor in the School of Systems Engineering and a director of the Advanced Robot Research Center at the Kochi University of Technology, Kochi, Japan. His research interests include walking rehabilitation robots, control, and fuzzy reasoning. He is an Academician of the Engineering Academy of Japan and a fellow of the Japan Society of Mechanical Engineering (JSME). He is also a member of the following association: IEEE, the Robotics Society of Japan, the Japanese Society of Instrument and Control Engineers, the Japanese Society for Medical and Biological Engineering, the Japan Society for Fuzzy Theory and Intelligent Informatics. His former positions include editor-in-chief of the journal of the Robotics Society of Japan (2014–2015) and president of the Japanese Biomedical Fuzzy Systems Association (2015–2017).

Jeng-Shyang Pan

Jeng-Shyang Pan received the B.S. degree in Electronic Engineering from the National Taiwan University of Science and Technology in 1986, the M.S. degree in Communication Engineering from the National Chiao Tung University, Taiwan in 1988, and the Ph.D. degree in Electrical Engineering from the University of Edinburgh, U.K. in 1996. Currently, he is a Dean for the College of Information Science and Engineering, Fujian University of Technology and a director of Innovative Information Industry Research Center, Harbin Institute of Technology Shenzhen Graduate School, China. He joined the editorial board of LNCS Transactions on Data Hiding and Multimedia Security, Journal of Computers, Journal of Information Hiding and Multimedia Signal Processing, etc. His current research interests include soft computing, information security and signal processing.