Distributed event-triggered adaptive finite-time consensus control for second-order multi-agent systems with connectivity preservation |
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| Authors: | Qi Li Jinyuan Wei Jianping Yuan Qiuxiong Gou Zhiqi Niu |
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| Institution: | 1. Xi’an Modern Control Technology Research Institute, Xi’an, 710065, PR China;2. National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi’an, 710072, PR China;3. School of Astronautics, Northwestern Polytechnical University, Xi’an, 710072, PR China;1. College of Mechatronics and Control Engineering, Hubei Normal University, Huangshi 435002, China;2. School of Information Science and Engineering, East China University of Science and Technology, Shanghai 200237, China;1. School of Electronics Engineering, Kalinga Institute of Industrial Technology, Bhubaneswar, India;2. Department of Computer Science, School of Computing, Tokyo Institute of Technology, Japan;3. Indian Institute of Technology, Bombay (Mumbai), India;1. Department of Mathematics, Beijing Jiaotong University, Beijing 100044, PR China;2. School of Transportation Science and Engineering, Beihang University, Beijing 100191, PR China |
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| Abstract: | In this paper, we consider the robust finite-time consensus problem for second-order multi-agent systems (MASs) with limited sensing range and weak communication ability. As a stepping stone, a novel distributed finite-time sliding mode manifold is developed for MASs. Then, by combining artificial potential function technique with the presented sliding mode manifold, a robust distributed control scheme is proposed to enable the finite-time consensus of MASs while preserving the prescribed communication connectivity. Furthermore, the sampling frequency and implementation burden of the proposed controller can be reduced with resort to the event-triggered methodology. Finally, numerical examples are given to show the effectiveness of the proposed method. |
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