Please use this identifier to cite or link to this item: http://hdl.handle.net/2080/4256
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dc.contributor.authorNath, Krishanu-
dc.contributor.authorSwaraj, Tara-
dc.contributor.authorBera, Manas Kumar-
dc.contributor.authorChakraborty, Sudipta-
dc.date.accessioned2024-01-08T06:18:25Z-
dc.date.available2024-01-08T06:18:25Z-
dc.date.issued2023-12-
dc.identifier.citation9th Indian Control Conference (ICC-9) GITAM (deemed to be) University, Visakhapatnam, 18-20 December 2023en_US
dc.identifier.urihttp://hdl.handle.net/2080/4256-
dc.descriptionCopyright belongs to proceeding publisheren_US
dc.description.abstractThis work discusses the design of a robust control strategy for leader-follower consensus of multi-agent systems for agents modelled as perturbed double integrator dynamics. The prime objective is to achieve a finite time consensus in the presence of unknown bounded external perturbations. The adopted distributed consensus protocol is based on integral sliding mode (ISM) with the nominal control as a finite-time consensus protocol. The robust control is designed using an adaptive switching term, which rejects the external disturbance. The proposed combination of these two control laws guarantees robustness while preserving the finite time consensus, and additionally, the adaptive gain relaxes the knowledge of the upper bound of disturbance. The robust stability of the closedloop system is established using Lyapunov analysis, ensuring the fixed time convergence of the MAS with uniform boundedness. A simulation example is included to verify the theoretical results.en_US
dc.subjectfinite-time consensusen_US
dc.subjectintegral sliding mode controlen_US
dc.subjectmulti-agent systemsen_US
dc.subjectadaptive gainen_US
dc.subjectpractical stabilityen_US
dc.titleA Robust Finite-Time Control for Leader-Follower Consensus for Perturbed Double Integrator Agentsen_US
dc.typeArticleen_US
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