Homogeneous finite-time consensus tracking of high-order-integrator agents by parametric approach

ABSTRACT

Finite-time consensus tracking of high-order-integrator multi-agent systems (MAS) is investigated under an undirected topology. When the leader's control input is known to all followers, the homogeneous finite-time control for a high-order integrator is extended to a distributed protocol for the corresponding MAS, and a set of control gains are found by the parametric approach for robust control, such that the multiple agents are simultaneously stabilised in finite time by keeping all characteristic polynomials Hurwitz. When it is only known to the leader's neighbouring followers, a distributed observer is presented for each follower to estimate it in finite time, and the combined observer-based protocol achieves finite-time consensus tracking in a fully distributed fashion. Simulation examples illustrate the effectiveness of the proposed scheme.

KEYWORDS:

• High-order integrator
• multi-agent systems (MAS)
• finite-time consensus
• Hurwitz polynomial

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

National Natural Science Foundation of China [grant number 61273107, 61573077, 61203082].