Experimental Implementation of Fixed-Time Leader-Follower Axial Alignment Tracking

Abstract

In this paper, the fixed-time leader-follower axial alignment tracking problem for a group of cooperative agents is investigated. The leader is dynamic and only transmits its position and velocity to its neighbors. A fixed-time algorithm is proposed to solve the consensus tracking problem. Each follower estimates the leader state in a fixed-time using distributed observers. To solve the consensus problem, based on the leader estimate, the followers collectively align their positions with the leader position in a fixed-time which does not depend on the initial positions. The experimental results show the effectiveness and robustness of the proposed fixed-time leader-follower consensus algorithm even in the presence of physical limitations such as packet loss, information delay, etc.