Fixed-time leader-following consensus of multiple uncertain nonholonomic systems: An adaptive distributed observer approach |
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| Institution: | 1. Department of Control Science and Engineering, University of Shanghai for Science and Technology, Shanghai, China;2. School of Automation Science and Electrical Engineering, Beihang University, Beijing, China;3. School of Mathematics and Statistics, Shandong University of Technology, Zibo, China;1. Department of Control Science and Engineering, Harbin Institute of Technology, Harbin 150001, PR China;2. The School of Cyber Science and Technology, Beihang University, Beijing 100191, PR China;1. Customer Success Manager and SME, HeliosIoT Systems Pvt. Ltd., Pune 411008, India;2. Department of Engineering, University of Sannio, Benevento 82100, Italy;3. School of Control Science and Engineering, Dalian University of Technology, Dalian 116024, China;1. Artificial Intelligence Energy Research Institute, Northeast Petroleum University, Daqing 163318, China;2. Heilongjiang Provincial Key Laboratory of Networking and Intelligent Control, Northeast Petroleum University, Daqing 163318, China;3. Sanya Offshore Oil & Gas Research Institute, Northeast Petroleum University, Sanya 572025, China;4. Key Laboratory for Metallurgical Equipment and Control of Ministry of Education, Wuhan University of Science and Technology, Wuhan, Hubei 430081, China;1. School of Information and Automation, Qilu University of Technology (Shandong Academy of Sciences), Jinan 250353, China;2. College of Information Science and Technology, Donghua University, Shanghai 201620, China |
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| Abstract: | This paper discusses the fixed-time leader-following consensus problem for multiple uncertain nonholonomic systems, which are widely used in engineering models. According to our literature review, either the system is assumed to be known, or the uncertainty only contains state information, which does not meet the actual requirements. For this reason, this paper investigates more general nonholonomic systems with uncertainties driven by inputs and states. First, a fixed-time adaptive distributed observer is proposed to estimate the leader’s state and structural parameters, which ensures that the estimation errors converge to zero within a fixed time. Second, two regulator equations based on the idea of cooperative output regulation are constructed, and a novel observer-based distributed switching control law is proposed. This control law overcomes the nonholonomic constraints and appropriately relaxes the assumptions of uncertain functions in the existing references. Finally, the simulation results verify the effectiveness of the proposed control scheme. |
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