Fixed time output feedback containment for uncertain nonlinear multiagent systems with switching communication topologies

Tian Biao; Shao Xingling; Yang Wei; Zhang Wendong

doi:10.1016/j.isatra.2020.11.007

Fixed time output feedback containment for uncertain nonlinear multiagent systems with switching communication topologies

ISA Trans. 2021 May:111:82-95. doi: 10.1016/j.isatra.2020.11.007. Epub 2020 Nov 17.

Authors

Tian Biao¹, Shao Xingling², Yang Wei¹, Zhang Wendong¹

Affiliations

¹ Key Laboratory of Instrumentation Science & Dynamic Measurement, Ministry of Education, North University of China, Taiyuan 030051, China; National Key Laboratory for Electronic Measurement Technology, School of Instrument and Electronics, North University of China, Taiyuan 030051, China.
² Key Laboratory of Instrumentation Science & Dynamic Measurement, Ministry of Education, North University of China, Taiyuan 030051, China; National Key Laboratory for Electronic Measurement Technology, School of Instrument and Electronics, North University of China, Taiyuan 030051, China. Electronic address: shaoxl@nuc.edu.cn.

PMID: 33248695
DOI: 10.1016/j.isatra.2020.11.007

Abstract

This paper presents a fixed time containment protocol within output feedback framework for uncertain nonlinear multiagent systems (MASs) exposed to unknown leader dynamics under switching communication topologies. To characterize dynamic communication links among agents in uncertain environments, a Markov jumping process with partially known transition probability is introduced to circumvent the difficulties of requiring the exact elements of transition rates as a prior. Then, in order to eliminate the necessity of broadcasting local velocity states between neighboring agents over the wireless and reject the comprehensive uncertainties including unknown model nonlinearities, external disturbances as well as switching topology jumps, a fixed time extended state observer (FTESO) only using the relative position information as input data is established for follower agents to achieve a uniform fast and precise estimation capability. A fixed time output feedback containment protocol by means of observer is presented to ensure that individual follower is guided into the geometric area constituted by a fleet of unknown leaders with a consistent convergence time irrelevant of initial conditions. The outstanding features of the developed algorithm are threefold: First, a prescribed fixed time containment consensus with reduced communication burden and enhanced robustness can be implemented. Second, a Markov jumping process with a partially known transition probability is considered to stimulate switching communication topologies. Third, a FTESO is constructed for each agent to realize a fixed-time estimation without requiring accurate modeling information. Finally, the fixed time stabilization of cascaded system is illuminated by applying the Lyapunov-based methods and bi-limit homogeneity. Simulation examples validate the feasibility and strengths of developed control protocol.

Keywords: Containment; Fixed time; Nonlinear multiagent systems; Switching topologies.