Fixed-Time Cooperative Tracking Control for Double-Integrator Multiagent Systems: A Time-Based Generator Approach
研究了双积分多智能体系统在有界输入扰动下的固定时间分布式一致性跟踪和平均跟踪问题，提出了基于时间生成器的滑模控制方法和观测器设计。
In this article, both the fixed-time distributed consensus tracking and the fixed-time distributed average tracking problems for double-integrator-type multiagent systems with bounded input disturbances are studied. First, a new practical robust fixed-time sliding-mode control method based on the time-based generator is proposed. Second, two fixed-time distributed consensus tracking observers for double-integrator-type multiagent systems are designed to estimate the state disagreement between the leader and the followers under undirected and directed communication, respectively. Third, a fixed-time distributed average tracking observer for double-integrator-type multiagent systems is designed to measure the average value of multiple reference signals under undirected communication. Note that all the proposed observers are constructed with time-based generators and can be trivially extended to that for high-order integrator-type multiagent systems. Furthermore, by combining the proposed fixed-time sliding-mode control method with the information provided by the fixed-time observers, the fixed-time controllers are designed to solve the fixed-time distributed consensus tracking and the distributed average tracking problems. Finally, a few numerical simulations are shown to verify the results.