Distributed finite-time tracking of multiple non-identical second-order nonlinear systems with settling time estimation

• Yu Zhao ^[3] ; Zhisheng Duan ^[1] ; Guanghui Wen ^[2] ; Guanrong Chen ^[4]
  1. [1] Peking University

     Peking University

     China

     
  2. [2] Southeast University

     Southeast University

     China

     
  3. [3] Northwestern Polytechnical University,China
  4. [4] University of Hong Kong;China

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• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 64, 2016, págs. 86-93
• Idioma: inglés
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• Resumen

  • This paper investigates the distributed finite-time consensus tracking problem for a group of autonomous agents modeled by multiple non-identical second-order nonlinear systems. First, a class of distributed finite-time protocols are proposed based on the relative position and relative velocity measurements. By providing a topology-dependent Lyapunov function, it is shown that distributed consensus tracking can be achieved in finite time under the condition that the nonlinear errors between the leader and the followers are bounded. Then, a new class of observer-based algorithms are designed to solve the finite-time consensus tracking problem without using relative velocity measurements. The main contribution of this paper is that, by computing the value of the Lyapunov function at the initial point, the finite settling time can be theoretically estimated for second-order multi-agent systems with the proposed control protocols. Finally, the effectiveness of the analytical results is illustrated by an application in low-Earth-orbit spacecraft formation flying.