Practical Fixed Time Consistent Control for Nonlinear Multi-agent Systems Based on Time-varying Barrier Lyapunov Function Method
For uncertain nonlinear multi-agent systems(MASs),a practical consistent control framework under fixed time is proposed by using time-varying Integral Barrier Lyapunov function(IBLF).In this paper,the robustness of BLF is used to solve the unknown nonlinear problem,rather than fuzzy logic system/neural network approximation.As a break-through of this method,IBLF is a direct constraint on the state variables.Among them,it is more novel to study the spe-cial function constraint(whose constraint boundary is related to both state variables and time).In the controller design process,a piecewise differentiable displacement function is inserted to specify the convergence time of the state variable and reach the globally consistent approximation time in advance,and the initial value condition of the state variable can be extended in combination with IBLF,so as to ensure that the output of all agents can realize actual fixed time consistent tracking for any initial output state.And all the signals in a closed loop system are bounded.Finally the effectiveness of the proposed control method is verified by simulation results.
multi-agent systemconsistencyfixed timeIntegral Barrier Lyapunov function
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