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Volume 8 Issue 4
Apr.  2021

IEEE/CAA Journal of Automatica Sinica

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Junkang Ni, Peng Shi, Yu Zhao and Zhonghua Wu, "Fixed-Time Output Consensus Tracking for High-Order Multi-Agent Systems With Directed Network Topology and Packet Dropout," IEEE/CAA J. Autom. Sinica, vol. 8, no. 4, pp. 817-836, Apr. 2021. doi: 10.1109/JAS.2021.1003916
Citation: Junkang Ni, Peng Shi, Yu Zhao and Zhonghua Wu, "Fixed-Time Output Consensus Tracking for High-Order Multi-Agent Systems With Directed Network Topology and Packet Dropout," IEEE/CAA J. Autom. Sinica, vol. 8, no. 4, pp. 817-836, Apr. 2021. doi: 10.1109/JAS.2021.1003916

Fixed-Time Output Consensus Tracking for High-Order Multi-Agent Systems With Directed Network Topology and Packet Dropout

doi: 10.1109/JAS.2021.1003916
Funds:  This work was supported in part by the National Natural Science Foundation of China (61903302, 61973252, 61903126), the Natural Science Basic Research Plan in Shaanxi Province of China (2019JQ-035), the Fundamental Research Funds for the Central Universities (31020180QD076, ZDHXYKYYW201914), Key R&D and Promotion Projects in Henan Province (202102210130), Key Scientific Research Projects of Universities in Henan Province-20A590001
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  • This paper studies the problem of fixed-time output consensus tracking for high-order multi-agent systems (MASs) with directed network topology with consideration of data packet dropout. First, a predictive compensation based distributed observer is presented to compensate for packet dropout and estimate the leader’s states. Next, stability analysis is conducted to prove fixed time convergence of the developed distributed observer. Then, adaptive fixed-time dynamic surface control is designed to counteract mismatched disturbances introduced by observation error, and stabilize the tracking error system within a fixed time, which overcomes explosion of complexity problem and singularity problem. Finally, simulation results are provided to verify the effectiveness and superiority of the consensus tracking strategy proposed. The contribution of this paper is to provide a fixed-time distributed observer design method for high-order MAS under directed graph subject to packet dropout, and a novel fixed-time control strategy which can handle mismatched disturbances and overcome explosion of complexity and singularity problem.


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    • Addresses fixed-time consensus tracking of high-order MAS under directed graph and packet dropout.
    • Proposes fixed-time distributed observer to deal with directed graph and packet dropout.
    • Proposes fixed-time DSC to handle mismatched disturbances and singularity problem.


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