TY - JOUR
T1 - Stability and Robustness Analysis of Finite-Time Consensus Algorithm for Second-Order Multiagent Systems Under Sampled-Data Control
AU - Chen, Weile
AU - Du, Haibo
AU - Chen, Chih Chiang
N1 - Funding Information:
This work was supported in part by the National Natural Science Foundation of China under Grant 62073113 and Grant 62003122; in part by the Natural Science Foundation of Anhui Province of China under Grant 2008085UD03; and in part by the Ministry of Science and Technology (MOST), Taiwan, under Grant MOST 110-2221-E-006-173 and Grant MOST 111-2221-E-006-204-MY2.
Publisher Copyright:
© 2013 IEEE.
PY - 2023/3/1
Y1 - 2023/3/1
N2 - The consensus problem for second-order multiagent systems based on nonsmooth sampled-data control is considered. First, a continuous-time nonsmooth consensus protocol is proposed, which can realize the consensus of systems in a finite time when the external disturbance is absent. Next, based on the sampled data and the zero-order holder, a new discrete-time nonsmooth protocol is proposed. Considering external disturbances, the explicit relationship between the ultimate boundary of errors of any two agents and the sampling period and external disturbance is given with the Lyapunov method and graph theory, which theoretically shows that the nonsmooth control algorithm has a stronger ability to resist external disturbance than the smooth control algorithm. Finally, a simulation example shows the superiority of the nonsmooth consensus algorithm over a smooth consensus algorithm.
AB - The consensus problem for second-order multiagent systems based on nonsmooth sampled-data control is considered. First, a continuous-time nonsmooth consensus protocol is proposed, which can realize the consensus of systems in a finite time when the external disturbance is absent. Next, based on the sampled data and the zero-order holder, a new discrete-time nonsmooth protocol is proposed. Considering external disturbances, the explicit relationship between the ultimate boundary of errors of any two agents and the sampling period and external disturbance is given with the Lyapunov method and graph theory, which theoretically shows that the nonsmooth control algorithm has a stronger ability to resist external disturbance than the smooth control algorithm. Finally, a simulation example shows the superiority of the nonsmooth consensus algorithm over a smooth consensus algorithm.
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U2 - 10.1109/TSMC.2022.3199452
DO - 10.1109/TSMC.2022.3199452
M3 - Article
AN - SCOPUS:85137877841
SN - 2168-2216
VL - 53
SP - 1445
EP - 1452
JO - IEEE Transactions on Systems, Man, and Cybernetics: Systems
JF - IEEE Transactions on Systems, Man, and Cybernetics: Systems
IS - 3
ER -