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

被引：84
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.
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页码：1 / 8
页数：8
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