Fixed-time leader-following flocking and collision avoidance of multi-agent systems with unknown dynamics

Tingruo Yan, Xu Xu, Zongying Li, Quan Bing Eric Li

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Abstract

The fixed-time flocking of multi-agent systems with a virtual leader is investigated in this paper. The motion dynamics of the agents are assumed to be unknown and only satisfy the boundedness, which does not need to be modelled by the Lipschitz condition. To achieve the flocking and collision avoidance for all agents in the fixed time, a control protocol in the high-dimensional space is developed by using the graph theory and the theoretical properties of differential equations. Moreover, the upper bound of the settling time only depending on the control protocol and the topology of network is estimated. Numerical examples are used to verify the theoretical results, and show that the proposed method provides an applicable method for the control of the nonlinear dynamic systems.
Original languageEnglish
Pages (from-to)2734-2741
JournalTransactions of the Institute of Measurement and Control
Volume43
Issue number12
DOIs
Publication statusPublished - 20 Apr 2021

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