Robust Fixed-Time Consensus Control of Multi-agent Systems via a UDE-Based Approach
Linhan Li, Weihao Li, Kaiyu Qin, Jingbo B. Wang, Bin Chen, Mengji Shi · 2021 IEEE 4th International Conference on Electronics Technology (ICET) · 2021
This paper concerns with the fixed-time consensus control problem of second-order multi-agent system with external disturbances. A robust control scheme is designed based on Uncertainty and Disturbance Estimator (UDE) which is employed to estimate and comprise uncertain parts of the system. The control scheme includes two components: One is a consensus formation controller which is used to achieve fixed-time consensus of the system; Another is the UDE-based estimation-compensation mechanism, which enhances the robustness of the system. The novelty lies in the combination of UDE-based robust control and fixed-time consensus, and efforts are made to overcome the complexity issue raised by the interplay between them. Lyapunov function based stability analysis is provided. Finally, simulations are carried out to verify the effectiveness of the control scheme.