Distributed Matrix Pencil Formulations for Prescribed-Time Leader-Following Consensus of MASs with Unknown Sensor Sensitivity
<|reference_start|>Distributed Matrix Pencil Formulations for Prescribed-Time Leader-Following Consensus of MASs with Unknown Sensor Sensitivity: In this paper, we address the problem of prescribed-time leader-following consensus of heterogeneous multi-agent systems (MASs) in the presence of unknown sensor sensitivity. Under a connected undirected topology, we propose a time-varying dual observer/controller design framework that makes use of regular local and inaccurate feedback to achieve consensus tracking within a prescribed time. In particular, the developed analysis framework is applicable to MASs equipped with sensors of different sensitivities. One of the design innovations involves constructing a distributed matrix pencil formulation based on worst-case sensors, yielding control parameters with sufficient robustness yet relatively low conservatism. Another novelty is the construction of the control gains, which consists of the product of a proportional coefficient obtained from the matrix pencil formulation and a classic time-varying function that grows to infinity or a novel bounded time-varying function. Furthermore, it is possible to extend the prescribed-time distributed protocol to infinite time domain by introducing the bounded time-varying gain technique without sacrificing the ultimate control accuracy, and the corresponding technical proof is comprehensive. The effectiveness of the method is demonstrated through a group of 5 single-link robot manipulators.<|reference_end|>
@article{ye2024distributed,
    title={Distributed Matrix Pencil Formulations for Prescribed-Time
  Leader-Following Consensus of MASs with Unknown Sensor Sensitivity},
    author={Hefu Ye, Changyun Wen, Yongduan Song},
    journal={arXiv preprint arXiv:2404.16412},
    year={2024},
    archivePrefix={arXiv},
    eprint={2404.16412},
    primaryClass={eess.SY cs.SY}
}