Finite-Time Adaptive Consensus Tracking Control Based on Barrier Function and Cascaded High-Gain Observer

Abstract

This paper studies the consensus tracking control for a class of uncertain high-order nonlinear multi-agent systems under an undirected leader-following architecture. A novel distributed finite-time adaptive control framework is proposed based on the barrier function. The distributed cascaded high-gain observers are introduced to solve the problem of robust consensus tracking with unmeasured intermediate states in multi-agent systems based on the proposed control framework. The proposed control schemes guarantee the finite-time consensus of multi-agent systems, which is proven by the finite-time Lyapunov stability and singular perturbation theory. In conclusion, numerical simulations verify the proposed control protocols’ effectiveness, and their performance advantages are shown by comparing them with another existing method.

Keywords

• robust consensus tracking
• disturbance observer
• state estimation
• barrier function
• singular perturbation