Fixed-time connectivity-preserving consensus of periodically disturbed nonlinear multi-agent systems with limited communication ranges.

ABSTRACT

This paper concentrates on the fixed-time consensus control problem with preserved connectivity for periodically disturbed nonlinear multi-agent systems with limited communication ranges. The dynamics model of the considered multi-agent systems is general, in which the periodically time-varying disturbance appears in the unknown system function in a nonlinear fashion. The Fourier series expansion-radial basis function neural network-based approximator is incorporated to describe the unknown disturbed functions. In consideration of the limited communication ranges, a unified error transformation is utilized to preserve the initial connectivity. Then, via the backstepping method, a consensus control scheme is recursively constructed to guarantee that the consensus errors fall into a small region around the origin in fixed time, and the connectivity preservation is ensured simultaneously. In simulation part, the consensus trajectories, consensus errors and the results of connectivity preservation are provided. The simulation results demonstrate the capability of the proposed control strategy in achieving connectivity-preserving consensus in fixed time.