Proceedings Article10.1109/cfasta57821.2023.10243250
Adaptive Fixed-Time Consensus Control for Second-Order Multi-Agent Systems with Input Quantization and Dead-Zone
Dandan Zhang,Heng Zhang +1 more
- 14 Jul 2023
pp 308-313
TL;DR: Adaptive fixed-time consensus control for second-order multi-agent systems with input quantization and dead-zone, investigates the tracking control problem with quantized input and dead-zone nonlinearity. An adaptive control law is designed to address these challenges, achieving consensus tracking with a preassigned time.
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Abstract: This article investigates the fixed-time tracking control problem of second-order multi-agent systems with input quantization, external disturbances as well as dead-zone nonlinearity. By employing a nonlinear decomposition between the system input and the control signal, the major difficulty for the coupling between the quantized input and dead-zone nonlinearity is resolved. Based on this, an adaptive fixed-time consensus control algorithm is designed by utilizing the technique of adding a power integrator. The proposed control law needs no information about the parameters of the quantizers and the upper bounds of dead-zone parameters. Rigorous proofs show that the tracking errors can reach a small set near zero within a preassigned time, where the settling time has no connection with the initial conditions of agents. Therefore, it is possible to off-line preassign the convergence time according to the requirement of task.
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