DocumentCode :
3527492
Title :
Finite-time consensus for a network of perturbed double integrators by second-order sliding mode technique
Author :
Pilloni, Alessandro ; Pisano, Alessandro ; Franceschelli, Mauro ; Usai, Enrico
Author_Institution :
Dept. of Electr. & Electron. Eng. (DIEE), Univ. of Cagliari, Cagliari, Italy
fYear :
2013
fDate :
10-13 Dec. 2013
Firstpage :
2145
Lastpage :
2150
Abstract :
This paper considers the problem of achieving consensus in a network of agents whose dynamics consist of perturbed double integrators. The considered class of perturbations is a bounded additive uncertainty, different for each agent, and such that the maximal magnitude is the only information available a-priori. Agents are supposed to interact through an undirected, static and connected, communication topology. The main contribution of the present work is a discontinuous local interaction rule which is able to provide finite time consensus while completely rejecting the effect of the perturbations. The local interaction rule, whose performance is investigated by Lyapunov approach, is accompanied by a set of simple tuning rules for setting the algorithm´s parameters. Simulation results demonstrate the effectiveness of the suggested scheme.
Keywords :
Lyapunov methods; variable structure systems; Lyapunov approach; bounded additive uncertainty; discontinuous local interaction rule; finite time consensus; maximal magnitude; perturbed double integrator network; second order sliding mode technique; Robustness;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on
Conference_Location :
Firenze
ISSN :
0743-1546
Print_ISBN :
978-1-4673-5714-2
Type :
conf
DOI :
10.1109/CDC.2013.6760199
Filename :
6760199
Link To Document :
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