Fixed-Time Antidisturbance Consensus Tracking for Nonlinear Multiagent Systems With Matching and Mismatching Disturbances  

作　　者：Xiangmin Tan Chunyan Hu Guanzhen Cao Qinglai Wei Wei Li Bo Han 

机构地区：[1]Institute of Engineering Thermophysics,Chinese Academy of Sciences,Beijing 100190 [2]School of Aeronautics and Astronautics,University of Chinese Academy of Sciences,Beijing 100049,China [3]Institute of Automation,Chinese Academy of Sciences,Beijing 100190 [4]School of Artificial Intelligence,University of Chinese Academy of Sciences,Beijing 100049,China [5]IEEE

出　　处：《IEEE/CAA Journal of Automatica Sinica》2024年第6期1410-1423,共14页自动化学报（英文版）

基　　金：supported by the National Defense Basic Scientific Research Project(JCKY2020130C025);the National Science and Technology Major Project(J2019-III-0020-0064,J2019-V-0014-0109)。

摘　　要：In this paper,fixed-time consensus tracking for mul-tiagent systems(MASs)with dynamics in the form of strict feed-back affine nonlinearity is addressed.A fixed-time antidistur-bance consensus tracking protocol is proposed,which consists of a distributed fixed-time observer,a fixed-time disturbance observer,a nonsmooth antidisturbance backstepping controller,and the fixed-time stability analysis is conducted by using the Lyapunov theory correspondingly.This paper includes three main improvements.First,a distributed fixed-time observer is developed for each follower to obtain an estimate of the leader’s output by utilizing the topology of the communication network.Second,a fixed-time disturbance observer is given to estimate the lumped disturbances for feedforward compensation.Finally,a nonsmooth antidisturbance backstepping tracking controller with feedforward compensation for lumped disturbances is designed.In order to mitigate the“explosion of complexity”in the tradi-tional backstepping approach,we have implemented a modified nonsmooth command filter to enhance the performance of the closed-loop system.The simulation results show that the pro-posed method is effective.

关 键 词：Antidisturbance BACKSTEPPING consensus tracking fixed-time stability multiagent system(MASs) strict feedback affine nonlinear systems. 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]