JOURNAL OF SHANDONG UNIVERSITY(NATURAL SCIENCE) ›› 2023, Vol. 58 ›› Issue (12): 167-176.doi: 10.6040/j.issn.1671-9352.0.2022.310

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Fixed-time consensus control for high-order multi-agent systems with input delay

Jinpeng QIU1,2(),Zonggang LI1,2,*(),Yinjuan CHEN1,2,Yajiang DU1,2   

  1. 1. School of Mechanical Engineering, Lanzhou Jiaotong University, Lanzhou 730070, Gansu, China
    2. Institute of Robotics, Lanzhou Jiaotong University, Lanzhou 730070, Gansu, China
  • Received:2022-05-30 Online:2023-12-20 Published:2023-12-19
  • Contact: Zonggang LI E-mail:1264505570@qq.com;lizongg@126.com

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Abstract:

To study the fixed-time consensus control problem of multi-agent system under the influence of input delay and external interference, a leader-following consensus control method based on Pade approximate consensus error is proposed. Firstly, a distributed observer is designed for followers to obtain leader's state information. Secondly, by using the Pade approximation method and introducing the delay dummy variable, the delay consensus error is transformed into the delay-free consensus error, and the distributed dynamic control protocol is designed based on the dynamic gain control method. By using the fixed-time stability theory, the sufficient conditions for the system to achieve fixed-time consensus and the upper bound of convergence time are obtained. Finally, the correctness of the theoretical results is verified by simulation experiments.

Key words: high-order multi-agent system, leader-following consensus, fixed-time control, input delay

CLC Number: 

  • TP13

Fig.1

Information interaction topology"

Fig.2

Observation error trajectory diagram"

Fig.3

Consensus error trajectory diagram"

Fig.4

Dynamic parameter trajectory diagram"

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