Further results on finite‐time consensus of second‐order multi‐agent systems without velocity measurements |
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| Authors: | Xiaoyang Liu Michael Z. Q. Chen Haibo Du Shaofu Yang |
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| Affiliation: | 1. School of Computer Science and Technology, Jiangsu Normal University, Xuzhou, China;2. Department of Mechanical Engineering, The University of Hong Kong, Hong Kong;3. School of Electrical Engineering and Automation, Hefei University of Technology, Anhui, Hefei, China;4. Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong |
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| Abstract: | This paper investigates the problem of finite‐time consensus (FTC) for second‐order nonlinear multi‐agent systems when the velocity information is unavailable. Based on the global finite‐time stability theory and homogeneity with dilation, a class of novel finite‐time consensus protocols are proposed for the multi‐agent systems. The protocol design is divided into two parts. First, when all the state information of the agents are measurable, a new continuous state feedback is designed to achieve FTC. Then, when the velocity information is unmeasurable, two finite‐time convergent discontinuous observers are presented to estimate the velocities of the followers and the leader, respectively, which further ensure the final FTC for the multi‐agent systems. Finally, one example is given to demonstrate the efficiency of the proposed method. Copyright © 2015 John Wiley & Sons, Ltd. |
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| Keywords: | multi‐agent system finite‐time consensus discontinuous observer |
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