Stochastic fixed‐time formation for nonlinear multi‐agent systems under a discontinuous protocol
Wennuo He, Wanli Guo, Lili Shi, Wen Sun, Hadi Jahanshahi · International Journal of Robust and Nonlinear Control · 2022
Abstract This article mainly studies the time‐varying fixed‐time formation (FTF) tracking control problem for stochastically disturbed nonlinear multi‐agent systems on detail balanced graphs. First, a novel sufficient condition for ensuring the fixed‐time stability in probability of stochastic differential equation is given. Then, using the neighboring information, a simple discontinuous control protocol is designed for achieving time‐varying FTF. By means of non‐smooth analysis techniques, our control objective is obtained and a proper upper bound for the expectation of the stochastic settling time is estimated. Finally, a numerical illustration demonstrates that the proposed control protocol is effective.