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Observer-Based Consensus of Higher-Order Nonlinear Heterogeneous Multiagent Systems with Unmatched Uncertainties: Application on Robotic Systems

Published online by Cambridge University Press:  14 November 2019

N. Rahimi,
T. BinazadehOpen the ORCID record for T. Binazadeh[Opens in a new window] and
M. Shasadeghi
N. Rahimi
Affiliation:
Department of Electrical and Electronic Engineering, Shiraz University of Technology, Shiraz, Iran, E-mails: n.rahimi@sutech.ac.ir; shasadeghi@sutech.ac.ir
T. Binazadeh*
Affiliation:
Department of Electrical and Electronic Engineering, Shiraz University of Technology, Shiraz, Iran, E-mails: n.rahimi@sutech.ac.ir; shasadeghi@sutech.ac.ir
M. Shasadeghi
Affiliation:
Department of Electrical and Electronic Engineering, Shiraz University of Technology, Shiraz, Iran, E-mails: n.rahimi@sutech.ac.ir; shasadeghi@sutech.ac.ir
*
*Corresponding author. E-mail: binazadeh@sutech.ac.ir
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Summary

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The consensus of higher-order nonlinear heterogeneous multiagent systems with matched and unmatched uncertainties is studied in this paper. The distributed observer-based controllers for multiagent systems are achieved using a fixed-time sliding mode controller based on the disturbance observer. For this purpose, the disturbance observers are designed for finite-time estimation of matched and unmatched uncertainties. Using the estimated values, the fixed-time distributed sliding mode controllers are designed and the consensus protocol is achieved. In this regard, a theorem is proved, which guarantees the fixed-time convergence of consensus errors. The effectiveness of the proposed distributed controllers has been validated through simulations for two robotic multiagent systems and a numerical example.

Keywords

Fixed/finite-time stabilityConsensusNonlinear heterogeneous multiagent systemsDisturbances observerMatched and unmatched uncertaintiesRobotic multiagent systems

Information

Type
Articles
Information
Robotica , Volume 38 , Issue 9 , September 2020, pp. 1605 - 1626
Copyright
© Cambridge University Press 2019

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