access icon free Fixed-time leader–follower consensus tracking of second-order multi-agent systems with bounded input uncertainties using non-singular terminal sliding mode technique

© The Institution of Engineering and Technology
Received 18/10/2017, Accepted 10/12/2017, Published 12/12/2017

This study investigates the fixed-time consensus tracking problem for second-order multi-agent systems. A new fixed-time stability condition and a new non-singular-terminal sliding surface are introduced. Using Gudermannian function, the fixed-time stability of sliding mode dynamics is proved and its guaranteed convergence time is obtained. Based on this condition and utilising the proposed surface, a non-singular sliding mode distributed protocol is proposed in which the guaranteed convergence times of reaching and sliding modes exist as design parameters. By employing the proposed protocol, fixed-time leader–follower consensus tracking for uncertain second-order multi-agent systems before a prescribed time by only using relative information can be accomplished. Simulation results are reported to show the effectiveness of the proposed method.

Inspec keywords: uncertain systems; control system synthesis; multi-agent systems; distributed control; stability; variable structure systems; convergence

Other keywords: nonsingular terminal sliding mode technique; convergence time; fixed-time leader-follower consensus tracking; Gudermannian function; uncertain second-order multiagent systems; nonsingular-terminal sliding surface; design parameters; sliding mode dynamics; fixed-time stability; nonsingular sliding mode distributed protocol; bounded input uncertainties; relative information; fixed-time stability condition

Subjects: Multivariable control systems; Control system analysis and synthesis methods; Stability in control theory

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