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Observer-based robust finite-time cooperative consensus control for multi-agent networks
conference contributionposted on 2009-01-01, 00:00 authored by Sui Yang KhooSui Yang Khoo, L Xie, Z Man, S Zhao
This paper studies the finite-time consensus tracking control for multi-agent networks. The time-varying control input and the velocity of the leader is unknown to any follower. Only the position of the leader is known to its neighbors. We first propose a new finite-time multiple-surface sliding mode observer to estimate the leader's velocity. It is seen that the estimation error of the observer can converge to zero in a finite time. Then, we prove that finite-time consensus tracking of multi-agent networks can be achieved on a new terminal sliding mode surface. Simulation results are presented to validate the analysis.