We found a match
Your institution may have rights to this item. Sign in to continue.
- Title
Finite-Time Adaptive Consensus Tracking Control Based on Barrier Function and Cascaded High-Gain Observer.
- Authors
Zhang, Xinyu; Zhu, Zheng H.; Liao, Fei; Gao, Hui; Li, Weihao; Li, Gun
- Abstract
This paper studies the consensus tracking control for a class of uncertain high-order nonlinear multi-agent systems under an undirected leader-following architecture. A novel distributed finite-time adaptive control framework is proposed based on the barrier function. The distributed cascaded high-gain observers are introduced to solve the problem of robust consensus tracking with unmeasured intermediate states in multi-agent systems based on the proposed control framework. The proposed control schemes guarantee the finite-time consensus of multi-agent systems, which is proven by the finite-time Lyapunov stability and singular perturbation theory. In conclusion, numerical simulations verify the proposed control protocols' effectiveness, and their performance advantages are shown by comparing them with another existing method.
- Publication
Drones (2504-446X), 2023, Vol 7, Issue 3, p197
- ISSN
2504-446X
- Publication type
Article
- DOI
10.3390/drones7030197