The leader-following consensus tracking problem is investigated for multiple second-order agent systems subject to communication range constraints in this paper. First, a novel fixed-time convergent performance function is developed to quantitatively characterize the consensus tracking performance. Then, an auxiliary state variable is defined by integrating the position and velocity consensus tracking errors with the potential function for removing the communication range constraints. Based on this auxiliary state variable, a fixed-time leader-following consensus controller is devised to guarantee the preassigned consensus tracking performance and communication preservation simultaneously. Compared with the existing consensus control methods, the prominent advantage of the proposed one is that the fixed-time convergence rate of the position and velocity tracking errors can be guaranteed without applying discontinuous control techniques. And the communication connectivity among the multiple agents is assured simultaneously via adding a potential function into the auxiliary state. Finally, two groups of illustrative examples are organized to validate the effectiveness of the proposed consensus control method.
BechlioulisCPRovithakisGA (2011) Robust partial-state feedback prescribed performance control of cascade systems with unknown nonlinearities. IEEE Transactions on Automatic Control56(9): 2224–2230.
2.
CaiYZhangHZhangJ, et al. (2021) Fixed-time leader-following/containment consensus for a class of nonlinear multi-agent systems. Information Sciences555: 58–84.
3.
ChenCPWenGXLiuYJ, et al. (2014) Adaptive consensus control for a class of nonlinear multiagent time-delay systems using neural networks. IEEE Transactions on Neural Networks and Learning Systems25(6): 1217–1226.
4.
DongYHuangJ (2017) Leader-following consensus with connectivity preservation of uncertain Euler–Lagrange multi-agent systems. International Journal of Robust and Nonlinear Control27(18): 4772–4787.
5.
EdwardsCSpurgeonS (1998) Sliding Mode Control: Theory and Applications. Boca Raton, FL: CRC Press.
6.
FanXYinXAnM, et al. (2018) Consensus in multi-agent system with communication constraints based on asynchronous dynamics. Transactions of the Institute of Measurement and Control40(4): 1109–1126.
7.
GaoTHuangJZhouY, et al. (2016) Finite-time consensus control of second-order nonlinear systems with input saturation. Transactions of the Institute of Measurement and Control38(11): 1381–1391.
8.
GuanZMaYZhengZ, et al. (2018) Prescribed performance control for automatic carrier landing with disturbance. Nonlinear Dynamics94(2): 1335–1349.
9.
HongHYuWFuJ, et al. (2018) Finite-time connectivity-preserving consensus for second-order nonlinear multiagent systems. IEEE Transactions on Control of Network Systems6(1): 236–248.
10.
HongYChenGBushnellL (2008) Distributed observers design for leader-following control of multi-agent networks. Automatica44(3): 846–850.
11.
JoordensMAJamshidiM (2010) Consensus control for a system of underwater swarm robots. IEEE Systems Journal4(1): 65–73.
12.
KeJHuangWWangJ, et al. (2022) Fixed-time consensus control for multi-agent systems with prescribed performance under matched and mismatched disturbances. ISA Transactions119: 135–151.
13.
KimDHShinS (2006) Local path planning using a new artificial potential function composition and its analytical design guidelines. Advanced Robotics20(1): 115–135.
14.
LiBGongWYangY, et al. (2021a) Appointed fixed time observer-based sliding mode control for a quadrotor UAV under external disturbances. IEEE Transactions on Aerospace and Electronic Systems58(1): 290–303.
15.
LiQWeiJGouQ, et al. (2021b) Distributed adaptive fixed-time formation control for second-order multi-agent systems with collision avoidance. Information Sciences564: 27–44.
16.
LiZDuanZLewisFL (2014) Distributed robust consensus control of multi-agent systems with heterogeneous matching uncertainties. Automatica50(3): 883–889.
17.
LiuYZhangFHuangP, et al. (2022) Fixed-time consensus tracking control with connectivity preservation for strict-feedback nonlinear multi-agent systems. ISA Transactions123: 14–24.
18.
NaJChenQRenX, et al. (2013) Adaptive prescribed performance motion control of servo mechanisms with friction compensation. IEEE Transactions on Industrial Electronics61(1): 486–494.
19.
NingBJinJZhengJ, et al. (2018) Finite-time and fixed-time leader-following consensus for multi-agent systems with discontinuous inherent dynamics. International Journal of Control91(6): 1259–1270.
20.
ParsegovSPolyakovAShcherbakovP (2013) Fixed-time consensus algorithm for multi-agent systems with integrator dynamics. IFAC Proceedings Volumes46(27): 110–115.
21.
QinJMaQShiY, et al. (2016) Recent advances in consensus of multi-agent systems: A brief survey. IEEE Transactions on Industrial Electronics64(6): 4972–4983.
22.
SeoJKimYKimS, et al. (2012) Consensus-based reconfigurable controller design for unmanned aerial vehicle formation flight. Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering226(7): 817–829.
23.
WangWWangDPengZ, et al. (2015) Prescribed performance consensus of uncertain nonlinear strict-feedback systems with unknown control directions. IEEE Transactions on Systems, Man, and Cybernetics: Systems46(9): 1279–1286.
24.
WeiCChenQLiuJ, et al. (2021) An overview of prescribed performance control and its application to spacecraft attitude system. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering235(4): 435–447.
25.
WeiCGuiMZhangC, et al. (2022a) Adaptive appointed-time consensus control of networked Euler-Lagrange systems with connectivity preservation. IEEE Transactions on Cybernetics52(11): 12379–12392.
26.
WeiCLuoJYinZ, et al. (2018) Leader-following consensus of second-order multi-agent systems with arbitrarily appointed-time prescribed performance. IET Control Theory & Applications12(16): 2276–2286.
27.
WeiCWuXXiaoB, et al. (2022b) Adaptive leader-following performance guaranteed formation control for multiple spacecraft with collision avoidance and connectivity assurance. Aerospace Science and Technology120: 107266.
28.
WenGXChenCPLiuYJ, et al. (2015) Neural-network-based adaptive leader-following consensus control for second-order non-linear multi-agent systems. IET Control Theory & Applications9(13): 1927–1934.
29.
YangYYueDXuC (2018) Dynamic event-triggered leader-following consensus control of a class of linear multi-agent systems. Journal of the Franklin Institute355(15): 7706–7734.
30.
YooSJ (2017) Connectivity-preserving consensus tracking of uncertain nonlinear strict-feedback multiagent systems: An error transformation approach. IEEE Transactions on Neural Networks and Learning Systems29(9): 4542–4548.
31.
ZhangHLiBXiaoB, et al. (2022) Nonsingular recursive-structure sliding mode control for high-order nonlinear systems and an application in a wheeled mobile robot. ISA Transactions. Epub ahead of print 19April. DOI: 10.1016/j.isatra.2022.04.021.
32.
ZhaoKSongYMaT, et al. (2017) Prescribed performance control of uncertain Euler–Lagrange systems subject to full-state constraints. IEEE Transactions on Neural Networks and Learning Systems29(8): 3478–3489.
