Finite-time consensus control for second-order multi-agent systems without velocity measurements |
| |
| Authors: | Changchun Hua Xinglong Sun Xiu You Xinping Guan |
| |
| Affiliation: | 1. Institute of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China;2. Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China |
| |
| Abstract: | This paper investigates the finite-time consensus problem for second-order multi-agent systems with unknown velocities and disturbances. By introducing the second-order sliding mode observer, two novel distributed finite-time protocols with only relative position measurements are proposed for the both cases with known and unknown boundaries of disturbances. On the basis of Lyapunov stability theorem and homogeneous theory, it is proved that the consensus can be achieved in finite time. Simulation examples are provided to show the effectiveness of the theoretical results. |
| |
| Keywords: | Multi-agent system finite-time consensus finite-time observer sliding mode control |
|
|
