Robust Fixed-Time Containment Tracking of Multi-Agent Systems with Unknown External Disturbances
Ruichi Ren, Zhenbing Luo, Kaiyu Qin, Boxian Lin, Mengji Shi
Source abstract
Fixed-time (FXT) containment control, which provides timely protective deployment of heterogeneous agents in non-ideal environments, can be essential in battles or other large dynamic scenarios. With this in mind, this paper comes up with a simplified FXT containment tracking control law making the follower agents under directed communication topologies and unknown external disturbances converge to a dynamic convex hull spanned by a class of fractional-order leaders. Based on FXT theory, a novel simplified FXT containment controller is proposed that consists of two components—a signum function term and a power term—which significantly reduces the complexity of the controller structure. Meanwhile, it remains qualified to achieve the control goal within a fixed settling time, independent of the initial agent states. The proposed containment controller can also be extended to solve the general consensus tracking problem. Finally, some simulation results are presented to demonstrate the effectiveness and conciseness of the proposed FXT containment tracking control scheme.
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