Distributed Finite-time Lag-consensus for Second-order Nonlinear Multi-agent Systems with Disturbances

The finite-time lag-consensus problems of second-order multi-agent networks which have inherent nonlinear dynamics and bounded external disturbances are studied in this paper. Lag consensus here means the followers can follow with the leader‘s trajectory with a time delay so as to avoid congestion. For the leader-following case, we construct a novel consensus control protocol with the relative information of velocity and position, and it is proved that all agents can reach finite-time lag consensus by Lyapunov theory when the communication is directed. Furthermore, the finite convergence time is explicitly estimated. Finally, a simulation example is presented to show the validity of theoretical results.

[1]  Brian D. O. Anderson,et al.  On leaderless and leader-following consensus for interacting clusters of second-order multi-agent systems , 2016, Autom..

[2]  Randal W. Beard,et al.  Consensus seeking in multiagent systems under dynamically changing interaction topologies , 2005, IEEE Transactions on Automatic Control.

[3]  Qingling Zhang,et al.  Finite-time synchronization for second-order nonlinear multi-agent system via pinning exponent sliding mode control. , 2016, ISA transactions.

[4]  Dennis S. Bernstein,et al.  Finite-Time Stability of Continuous Autonomous Systems , 2000, SIAM J. Control. Optim..

[5]  Yongcan Cao,et al.  Finite-time consensus for multi-agent networks with unknown inherent nonlinear dynamics , 2013, Autom..

[6]  Xinghu Wang,et al.  Leader-following consensus for a class of second-order nonlinear multi-agent systems , 2016, Syst. Control. Lett..

[7]  Hang Li,et al.  Delay Consensus of Second-Order Nonlinear Leader-Following Multi-Agent Systems , 2016 .

[8]  Zhang Guoshan,et al.  On consensus speed of the leader-following multi-agent system , 2012, Proceedings of the 31st Chinese Control Conference.

[9]  Ziyang Meng,et al.  Discussion on: "Consensus of Second-Order Delayed Multi-Agent Systems with Leader-Following" , 2010, Eur. J. Control.

[10]  Jay A. Farrell,et al.  Cooperative Control of Multiple Nonholonomic Mobile Agents , 2008, IEEE Transactions on Automatic Control.

[11]  Charles R. Johnson,et al.  Topics in Matrix Analysis , 1991 .

[12]  Guangfu Ma,et al.  Distributed coordination for second-order multi-agent systems with nonlinear dynamics using only relative position measurements , 2013, Autom..

[13]  Ming Xin,et al.  Integrated Optimal Formation Control of Multiple Unmanned Aerial Vehicles , 2012, IEEE Transactions on Control Systems Technology.

[14]  Qingyun Wang,et al.  Distributed finite-time leaderless consensus control for double-integrator multi-agent systems with external disturbances , 2017, Appl. Math. Comput..

[15]  Pengfei Zhang,et al.  Consensus of linear multi-agent systems via reduced-order observer , 2017, Neurocomputing.

[16]  Jianhua Liu,et al.  Consensus of nonlinear second-order multi-agent systems with mixed time-delays and intermittent communications , 2017, Neurocomputing.

[17]  Xiangmin Guan,et al.  Formation reconfiguration based on distributed cooperative coevolutionary for multi-UAV , 2016, 2016 12th World Congress on Intelligent Control and Automation (WCICA).

[18]  Yi Wang,et al.  Pinning Control of Lag-Consensus for Second-Order Nonlinear Multiagent Systems. , 2017, IEEE transactions on cybernetics.

[19]  Zengqiang Chen,et al.  Finite time agreement protocol design of multi‐agent systems with communication delays , 2009 .

[20]  Richard M. Murray,et al.  Consensus problems in networks of agents with switching topology and time-delays , 2004, IEEE Transactions on Automatic Control.

[21]  Zhongjun Ma,et al.  Lag consensus of the second-order leader-following multi-agent systems with nonlinear dynamics , 2016, Neurocomputing.