Fully distributed control for fixed-time synchronization of double-integrator-type multi-agent systems with time-varying delays
Yu Wang, Jian Xu · 2022 41st Chinese Control Conference (CCC) · 2022
Fully distributed control protocol design problem for multiagent systems with double integrator dynamic on connected graphs is addressed in this content. Firstly, in order to deal with the time-varying delay, the prediction algorithm and the state transformation equation are introduced to obtain two new states. Secondly, a nonlinear gain sliding surface is designed so that both practical fixed-time control and improved convergence quality can be achieved. Lastly, using the Lyapunov method, strict stability proof for delayed double-integrator-type multi-agent system is given. Numerical simulation results are provided to verify the feasibility of our method.