文献类型：期刊文献

英文题名：Predefined-Time Consensus Tracking of Second-Order Multiagent Systems

作者：Ni, Junkang[1];Liu, Ling[2];Tang, Yang[3];Liu, Chongxin[2]

机构：[1]Northwestern Polytech Univ, Sch Automat, Dept Elect Engn, Xian 710072, Peoples R China;[2]Xi An Jiao Tong Univ, Sch Elect Engn, State Key Lab Elect Insulat & Power Equipment, Xian 710049, Peoples R China;[3]East China Univ Sci & Technol, Key Lab Adv Control & Optimizat Chem Proc, Minist Educ, Shanghai 200237, Peoples R China

年份：2021

卷号：51

期号：4

起止页码：2550

外文期刊名：IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS

收录：;EI(收录号：20211310147398);WOS:【SCI-EXPANDED(收录号:WOS:000631202400045)】；

基金：This work was supported in part by the Fundamental Research Funds for the Central Universities under Grant 31020180QD076, in part by the Natural Science Basic Research Plan in Shaanxi Province of China under Grant 2019JQ-035, in part by the National Natural Science Foundation of China under Grant 61751305 and Grant 61673176, and in part by the Alexander von Humboldt Foundation of Germany.

语种：英文

外文关键词：Convergence; Protocols; Stability analysis; Asymptotic stability; Power system stability; Tuning; Estimation; Consensus tracking; distributed observer; multiagent systems (MASs); nonsingular terminal sliding mode control; predefined-time consensus

摘要：In this paper, the predefined-time consensus tracking problem of second-order multiagent systems (MASs) is investigated. A distributed observer is presented to estimate the tracking error for each follower within predefined time. A novel sliding surface is constructed to ensure predefined-time system convergence along the sliding surface and a terminal sliding mode consensus protocol is presented to overcome singularity problem and achieve leader-following consensus within predefined time. It is mathematically proved that the followers' states can track the leader's trajectory within predefined time. In particular, the settling time bound is directly related to tunable parameters, which facilitates the control protocol design to meet the desired convergence time requirement. Besides, the estimation bound for convergence time is less conservative than some existing fixed-time consensus protocols. The effectiveness of the proposed method is verified by the consensus tracking control for networked single-link robotic manipulators.