Fully Distributed Finite-Time Consensus of Directed Multiquadcopter Systems via Pinning Control
Date of Original Version
By using the terminal sliding-mode control (TSMC) and the pinning control methods, the fully distributed finite-time consensus problems are investigated for second-order multiagent systems (MASs) and multiquadcopter systems (MQSs) with directed topology. For the second-order MASs, a pinning control scheme is designed by analyzing the outdegree and indegree of nodes, and a TSMC protocol with the local information is proposed to achieve the finite-time consensus. Then, as an application of the MASs, the model of MQSs is constructed and its finite-time attitude consensus is discussed. Finally, the effectiveness of the proposed method is validated by two numerical examples.
IEEE Transactions on Systems, Man, and Cybernetics: Systems
Zhou, Yingjiang, Haibo He, and Changyin Sun. "Fully Distributed Finite-Time Consensus of Directed Multiquadcopter Systems via Pinning Control." IEEE Transactions on Systems, Man, and Cybernetics: Systems 51, 8 (2021): 5080-5089. doi:10.1109/TSMC.2019.2945260.