Finite-time group consensus via pinning control for heterogeneous multi-agent systems with disturbances by integral sliding mode |
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| Institution: | 1. School of Mathematics and Information Science, Baoji University of Arts and Sciences, Baoji 721013, PR China;2. School of Mechano-Electronic Engineering, Xidian University, Xi’an 710071, PR China;3. Institute of Systems Security and Control, College of Computer Science and Technology, Xi’an University of Science and Technology, Xi’an 710054, PR China;4. Hitachi Building Technology (Guangzhou) Co., Ltd, Guangzhou 510613, China;5. Institute of Systems Engineering and Collaborative Laboratory for Intelligent Science and Systems, Macau University of Science and Technology, Taipa 999078, Macao;1. Key Laboratory of Magnetic Suspension Technology and Maglev Vehicle, Ministry of Education, China;2. School of Electrical Engineering, Southwest Jiaotong University, Chengdu 610031, China;1. College of Energy and Electrical Engineering, Hohai University, Nanjing 210098, China;2. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China;1. Tallinn University of Technology, Department of Computer Systems, Estonia;2. Department of Electrical Engineering, Sahand University of Technology, Tabriz, Iran;1. School of Mathematics and Physics, Jinggangshan University, Ji’an, 343009, China;2. School of Mathematical Sciences, Tongji University, Shanghai, 200092, China;3. College of Mechanical and Electrical Engineering, Jinggangshan University, Ji’an 343009, China |
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| Abstract: | In this paper, the finite-time group consensus for a class of heterogeneous multi-agent systems (HMASs) with bounded disturbances is studied by designing a pinning control scheme with an integral sliding mode. For an HMAS without disturbance, a continuous finite-time consensus protocol with a pinning and grouping strategy is proposed. Under the designed control protocol, the HMAS achieves consensus according to the given grouping requirement in a finite time and the final states converge to the desired consistency values. The detailed theoretical proof is given on the strength of Lyapunov theory, LaSalle’s invariance principle and homogeneity with dilation principle. On this basis, this paper further introduces an integral sliding mode into finite-time group consensus protocol designed above such that the HMAS with one or more pinning agents can achieve accurate finite-time group consensus even if there exist uncertain bounded disturbances. It is noted that the control input is chattering-free. Two simulation examples are presented to illustrate the effectiveness of the proposed control schemes. |
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