Fixed‐time leader–follower consensus tracking of second‐order multi‐agent systems with bounded input uncertainties using non‐singular terminal sliding mode technique
Alireza Khanzadeh, Mahdi Pourgholi · IET Control Theory and Applications · 2017
This study investigates the fixed‐time consensus tracking problem for second‐order multi‐agent systems. A new fixed‐time stability condition and a new non‐singular‐terminal sliding surface are introduced. Using Gudermannian function, the fixed‐time stability of sliding mode dynamics is proved and its guaranteed convergence time is obtained. Based on this condition and utilising the proposed surface, a non‐singular sliding mode distributed protocol is proposed in which the guaranteed convergence times of reaching and sliding modes exist as design parameters. By employing the proposed protocol, fixed‐time leader–follower consensus tracking for uncertain second‐order multi‐agent systems before a prescribed time by only using relative information can be accomplished. Simulation results are reported to show the effectiveness of the proposed method.