Nonsmooth Second-Order Consensus Protocol for Multi-Agent Systems
Shihua Li · Fuza xitong yu fuzaxing kexue · 2012
For multi-agent systems described by double integrators,this paper proposes a new nonsmooth consensus protocol.Firstly,based on the backstepping control method,the velocity is regarded as a virtual input and designed such that states consensus can be achieved asymptotically.Secondly,based on finite-time control technique,a finite-time control law is designed such that the virtual velocity can be tracked by the real velocity in a finite time.Under the proposed control law,it is proven that the states consensus can be achieved asymptotically in the absence of disturbances.In the presence of disturbances,the steady-state errors of any two agents can reach a small region around the origin.Simulation results are provided to demonstrate the effectiveness of the method.