CONSENSUS PROBLEM WITH A REFERENCE STATE FOR FRACTIONAL-ORDER MULTI-AGENT SYSTEMS

In this paper, the consensus problem of fractional-order multi-agent systems with a reference state is studied under fixed directed communication graph. At the beginning, the convergence speeds of fractional-order multi-agent systems are investigated based on the Mittag-Leffler function. Then, a common consensus control law and a consensus control law based on error predictor are proposed, and it is shown that the consensus tracking can be achieved using the above control laws when a communication graph has a directed spanning tree. Finally, the convergence speeds of fractional-order systems are compared, and it is discovered that the convergence of systems is faster using the control law based on error predictor than using the common one.