Robust consensus tracking for an integrator-type multi-agent system with disturbances and unmodelled dynamics

被引：85

作者：

Hu, Guoqiang ^{[1
]}

机构：

[1] Kansas State Univ, Dept Mech & Nucl Engn, Manhattan, KS 66506 USA

来源：

INTERNATIONAL JOURNAL OF CONTROL | 2011年 / 84卷 / 01期

关键词：

cooperative control; identifier design; Lyapunov methods; multi-agent systems; robust consensus tracking; MOBILE AUTONOMOUS AGENTS; FLOCKING; NETWORKS; ALGORITHMS; TOPOLOGIES; LEADER; GRAPHS; DELAYS; STATE;

D O I：

10.1080/00207179.2010.535855

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this article, a robust consensus tracking problem for a multi-agent system with integrator-type dynamics has been addressed in the presence of disturbances and unmodelled dynamics. The desired trajectory to be tracked is only provided to a small group of team members. An identifier is developed to estimate the unknown disturbances and unmodelled dynamics. A consensus controller is developed based on this identifier to achieve asymptotic consensus tracking using the local information obtained from neighbouring agents. The closed-loop stability is proved using the Lyapunov-based analysis and an invariance-like theorem. Numerical simulations are provided to demonstrate the effectiveness of the developed robust consensus controller.

引用

页码：1 / 8

页数：8

共 35 条

[1] Attitude Synchronization of a Group of Spacecraft Without Velocity Measurements [J].

Abdessameud, Abdelkader ;

Tayebi, Abdelhamid .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2009, 54 (11) :2642-2648

[2] Rigid Graph Control Architectures for Autonomous Formations APPLYING CLASSICAL GRAPH THEORY TO THE CONTROL OF MULTIAGENT SYSTEMS [J].

Anderson, Brian D. O. ;

Yu, Changbin ;

Fidan, Bari ;

Hendrickx, Julien M. .

IEEE CONTROL SYSTEMS MAGAZINE, 2008, 28 (06) :48-63

[3] Output synchronization of nonlinear systems with time delay in communication [J].

Chopra, Nikhi. L. ;

Spong, Mark W. .

PROCEEDINGS OF THE 45TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14, 2006, :4986-4992

[4]

Diestel R., 1997, GRADUATE TEXTS MATH, V173

[5] Information flow and cooperative control of vehicle formations [J].

Fax, JA ;

Murray, RM .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2004, 49 (09) :1465-1476

[6] Tracking control for multi-agent consensus with an active leader and variable topology [J].

Hong, Yiguang ;

Hu, Jiangping ;

Gao, Linxin .

AUTOMATICA, 2006, 42 (07) :1177-1182

[7] Lyapunov-based range identification for paracatadioptric systems [J].

Hu, Guoqiang ;

Aiken, Darren ;

Gupta, Sumit ;

Dixon, Warren E. .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2008, 53 (07) :1775-1781

[8] Coordination of groups of mobile autonomous agents using nearest neighbor rules [J].

Jadbabaie, A ;

Lin, J ;

Morse, AS .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2003, 48 (06) :988-1001

[9]

Khalil H., 2002, Control of Nonlinear Systems

[10] Robust Finite-Time Consensus Tracking Algorithm for Multirobot Systems [J].

Khoo, Suiyang ;

Xie, Lihua ;

Man, Zhihong .

IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2009, 14 (02) :219-228

← 1 2 3 4 →