Observer-Based Leader-Follower Consensus Tracking with Fixed-time Convergence

摘要

This paper addresses the problem of consensus tracking with fixed-time convergence, for leader-follower multi-agent systems with double-integrator dynamics, where only a subset of followers has access to the state of the leader. The control scheme is divided into three steps. The first one is dedicated to the estimation of the leader’s velocity by the subset of agents with access to leader’s position. Then, the leader state is estimated by each follower in a distributed way and in a fixed-time. Finally, based on the estimate of the leader state, each follower computes its control law to track the leader in a fixed-time. The control strategy proposed in this paper ensures a fixed-time convergence where the desired upper bound of the settling-time of the tracking error is set a priory by the user with one parameter. Thus, allowing the application for scenarios under time constraints. Some numerical examples show the effectiveness of the proposed consensus protocols.