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Volume 11 Issue 6
Jun.  2024

IEEE/CAA Journal of Automatica Sinica

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X. Tan, C. Hu, G. Cao, Q. Wei, W. Li, and  B. Han,  “Fixed-time antidisturbance consensus tracking for nonlinear multiagent systems with matching and mismatching disturbances,” IEEE/CAA J. Autom. Sinica, vol. 11, no. 6, pp. 1410–1423, Jun. 2024. doi: 10.1109/JAS.2024.124461
Citation: X. Tan, C. Hu, G. Cao, Q. Wei, W. Li, and  B. Han,  “Fixed-time antidisturbance consensus tracking for nonlinear multiagent systems with matching and mismatching disturbances,” IEEE/CAA J. Autom. Sinica, vol. 11, no. 6, pp. 1410–1423, Jun. 2024. doi: 10.1109/JAS.2024.124461

Fixed-Time Antidisturbance Consensus Tracking for Nonlinear Multiagent Systems With Matching and Mismatching Disturbances

doi: 10.1109/JAS.2024.124461
Funds:  This work was supported by the National Defense Basic Scientific Research Project (JCKY2020130C025) and the National Science and Technology Major Project (J2019-III-0020-0064, J2019-V-0014-0109)
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  • In this paper, fixed-time consensus tracking for multiagent systems (MASs) with dynamics in the form of strict feedback affine nonlinearity is addressed. A fixed-time antidisturbance consensus tracking protocol is proposed, which consists of a distributed fixed-time observer, a fixed-time disturbance observer, a nonsmooth antidisturbance backstepping controller, and the fixed-time stability analysis is conducted by using the Lyapunov theory correspondingly. This paper includes three main improvements. First, a distributed fixed-time observer is developed for each follower to obtain an estimate of the leader’s output by utilizing the topology of the communication network. Second, a fixed-time disturbance observer is given to estimate the lumped disturbances for feedforward compensation. Finally, a nonsmooth antidisturbance backstepping tracking controller with feedforward compensation for lumped disturbances is designed. In order to mitigate the “explosion of complexity” in the traditional backstepping approach, we have implemented a modified nonsmooth command filter to enhance the performance of the closed-loop system. The simulation results show that the proposed method is effective.

     

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    Highlights

    • For multiagent systems (MASs) with dynamics in the form of strict feedback affine nonlinearity, a distributed fixed-time observer (DFTO) is developed for each follower to obtain an estimate of the leader's output by utilizing the topology of the communication network. The novel distributed fixed-time observer converges rapidly within a fixed time to receive the tracking command from the leader
    • A fixed-time disturbance observer (FTDO) is given to estimate the lumped disturbances for feedforward compensation. In the designed disturbance observer, we treat the disturbance as an extended state based on the concept of the extended state observer, and it can quickly estimate lumped disturbances with a fixed time
    • A nonsmooth antidisturbance backstepping tracking controller with feedforward compensation for lumped disturbances is designed base on the proposed DFTO and FTDO, and it can achieve fixed-time convergence with feedforward compensation for the lumped disturbance. The fixed-time stability analysis is conducted by using the Lyapunov theory

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