Observer-Based Finite-Time Consensus for Heterogeneous Multiagent Systems With Nonholonomic Chained-Form Dynamics

Abstract

Driven by the development of the smart Internet of Things (IoT), the consensus of heterogeneous multi-agents with nonholonomic chained-form dynamics is considered, where the order number and dynamics of each agent can be different. Firstly, a distributed adaptive observer is designed to estimate all states and inputs of a leader in a finite time. Then, a distributed finite-time consensus protocol is presented to track estimated states of the leader by integrating power integrator technique, which can address heterogeneous structure of multi-agent systems while achieving finite-time consensus tracking. Moreover, the consensus of systems is analyzed and proved by Lyapunov theory. Finally, a simulation example for multiple wheeled robots is provided to demonstrate the effectiveness of the protocol.