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In this paper, the finite-time consensus protocols are designed to solve the problems of unmeasured velocity and disturbances in heterogeneous multi-agent systems, in which the communications among agents are described… Click to show full abstract
In this paper, the finite-time consensus protocols are designed to solve the problems of unmeasured velocity and disturbances in heterogeneous multi-agent systems, in which the communications among agents are described by a directed graph. The proposed consensus protocols use only position measurements. The velocity of the agents is estimated according to the position measurements of multi-agent systems. The integral sliding mode control is adopted to eliminate the bounded disturbances of the systems and shorten the time to achieve consensus. The sufficient conditions for finite-time consensus are obtained by employing Lyapunov stability theory. Finally, simulations are provided to verify the effectiveness of the proposed schemes.
Journal Title: IEEE Access
Year Published: 2018
Link to full text (if available)
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