Distributed Fixed-Time Control of Multi-agent Systems with Input Shaping*

摘要

This paper presents novel fixed-time control for second-order multi-agent systems based on input shaping technique under undirected and directed graphs. To satisfy the requirement of multi-agent systems, the input shaping technique is extended to solve the control of an oscillation system with non-zero initial position firstly. The distributed fixed-time controllers are proposed based on the shaped command to achieve rest-to-rest maneuver of multi-agent systems under connected undirected graph where there is at least one node linked to the leader. For the directed graph with a globally reachable leader and no circle, distributed fixed-time controllers are designed by placing input shapers in all communication edges in the graph. Finally, experimental results are presented to verify the effectiveness of the proposed controllers.