Distributed Finite-time Differentiator for Multi-agent Systems Under Directed Graph
Fuente:
arXiv
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| Autori principali: | , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| _version_ | 1866914692295819264 |
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| author | Chen, Weile Du, Haibo Li, Shihua |
| author_facet | Chen, Weile Du, Haibo Li, Shihua |
| contents | This paper proposes a new distributed finite-time differentiator (DFD) for multi-agent systems (MAS) under directed graph, which extends the differentiator algorithm from the centralized case to the distributed case by only using relative/absolute position information. By skillfully constructing a Lyapunov function, the finite-time stability of the closed-loop system under DFD is proved. Inspired by the duality principle of control theory, a distributed continuous finite-time output consensus algorithm extended from DFD for a class of leader-follower MAS is provided, which not only completely suppresses disturbance, but also avoids chattering. Finally, several simulation examples are given to verify the effectiveness of the DFD. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2402_16260 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Distributed Finite-time Differentiator for Multi-agent Systems Under Directed Graph Chen, Weile Du, Haibo Li, Shihua Multiagent Systems This paper proposes a new distributed finite-time differentiator (DFD) for multi-agent systems (MAS) under directed graph, which extends the differentiator algorithm from the centralized case to the distributed case by only using relative/absolute position information. By skillfully constructing a Lyapunov function, the finite-time stability of the closed-loop system under DFD is proved. Inspired by the duality principle of control theory, a distributed continuous finite-time output consensus algorithm extended from DFD for a class of leader-follower MAS is provided, which not only completely suppresses disturbance, but also avoids chattering. Finally, several simulation examples are given to verify the effectiveness of the DFD. |
| title | Distributed Finite-time Differentiator for Multi-agent Systems Under Directed Graph |
| topic | Multiagent Systems |
| url | https://arxiv.org/abs/2402.16260 |