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access icon free Finite-time convergence of group flocking for multi-agent systems with mismatched/matched disturbances

© The Institution of Engineering and Technology
Received 24/04/2019, Accepted 01/04/2020, Revised 29/02/2020, Published 03/04/2020

In this study, the problem of grouping motion for a second-order multi-agent network with both matched disturbances and mismatched disturbances is investigated, and finite-time convergent algorithm of the dynamic system is proposed. By designing the disturbance observers to eliminate disturbances in the multi-agent systems, a compound communication protocol with active disturbance compensation is presented by means of the sliding-mode control. By applying finite-time stable theory and input-to-state stable theory, the finite-time group convergence of multi-agent systems with multiple disturbances is analysed, and group flocking can be achieved asymptotically with the cooperative controller. The numerical simulations demonstrate the validity of the results.

Inspec keywords: variable structure systems; observers; Lyapunov methods; multi-agent systems; nonlinear control systems; control system synthesis

Other keywords: dynamic system; input-to-state; active disturbance compensation; disturbance observers; mismatched disturbances; second-order multiagent network; finite-time stable theory; finite-time group convergence; finite-time convergent algorithm; multiple disturbances; multiagent systems; group flocking

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

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