Analysis and synthesis of control systems

Fixed-time stabilization of multi-agent system

S. E. Parsegov

Institute of Control Sciences, Russian Academy of Sciences, Moscow

Abstract: The paper addresses the problem of row straightening of agents via local interactions. A nonlinear control protocol that ensures finite-time equidistant allocation on a segment is proposed. With the designed protocol, any settling time can be guaranteed regardless of the initial conditions. A robust modification of the control algorithm based on sliding mode control technique is presented. The case of multidimensional agents is also considered. The theoretical results are illustrated by numerical simulations.

Keywords: multi-agent system, formation control, nonlinear control, fixed-time stability.

UDC: 519.876+519.71