Adaptive Selective Disturbance Elimination-Based Fixed-Time Consensus Tracking for a Class of Nonlinear Multiagent Systems
Abstract
:1. Introduction
- Unlike [43], this study introduces adaptive selective disturbance elimination in each agent’s tracking control design, incorporating disturbance indicator and disturbance observation attenuation terms in the control law. This distinguishes between beneficial and detrimental disturbances, leveraging beneficial disturbances to accelerate tracking and suppressing detrimental ones to improve tracking accuracy.
- In this study, a fixed-time disturbance observer is introduced to rapidly and accurately estimate lumped disturbances and their derivatives arising from unmodeled dynamics, parameter perturbations, external disturbances, and nonlinear couplings. Utilizing Lyapunov theory, the fixed-time stability of the disturbance observer is proven, representing a novel contribution to the field of multiagent consensus tracking.
- Additionally, an application framework for a fixed-time tracking protocol based on adaptive selective disturbance elimination is proposed. The protocol includes a distributed fixed-time observer for estimating the leader’s output under specific network topologies, a fixed-time disturbance observer for rapid estimation of lumped disturbances, and a fixed-time active anti-disturbance controller based on adaptive selective disturbance elimination, integrating the strengths of backstepping, nonlinear dynamic inversion, and conditional disturbance negation. The protocol leverages the “separation principle” and analyzes its fixed-time stability based on Lyapunov theory, demonstrating significant innovation.
2. Problem Formulation
3. Adaptive Selective Disturbance Elimination Consensus Tracking
3.1. Distributed Fixed-Time Observer
3.2. Fixed-Time Disturbance Observer
3.3. Adaptive Selective Disturbance Elimination Backstepping Controller
3.3.1. Adaptive Selective Disturbance Elimination Backstepping Controller Design
3.3.2. Analysis of System Stability
4. Simulation Results
5. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
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Xiong, G.; Tan, X.; Cao, G.; Hong, X. Adaptive Selective Disturbance Elimination-Based Fixed-Time Consensus Tracking for a Class of Nonlinear Multiagent Systems. Electronics 2025, 14, 1503. https://doi.org/10.3390/electronics14081503
Xiong G, Tan X, Cao G, Hong X. Adaptive Selective Disturbance Elimination-Based Fixed-Time Consensus Tracking for a Class of Nonlinear Multiagent Systems. Electronics. 2025; 14(8):1503. https://doi.org/10.3390/electronics14081503
Chicago/Turabian StyleXiong, Guanghuan, Xiangmin Tan, Guanzhen Cao, and Xingkui Hong. 2025. "Adaptive Selective Disturbance Elimination-Based Fixed-Time Consensus Tracking for a Class of Nonlinear Multiagent Systems" Electronics 14, no. 8: 1503. https://doi.org/10.3390/electronics14081503
APA StyleXiong, G., Tan, X., Cao, G., & Hong, X. (2025). Adaptive Selective Disturbance Elimination-Based Fixed-Time Consensus Tracking for a Class of Nonlinear Multiagent Systems. Electronics, 14(8), 1503. https://doi.org/10.3390/electronics14081503