Robust Consensus Tracking of a Class of Second-Order Multi-Agent Dynamic Systems

被引：3

作者：

Hu, Guoqiang ^{[1
]}

机构：

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

来源：

49TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC) | 2010年

关键词：

AUTONOMOUS AGENTS; FLOCKING; NETWORKS;

D O I：

10.1109/CDC.2010.5718101

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 paper, a robust consensus tracking problem for a class of second-order multi-agent systems has been addressed in the presence of disturbances and unmodeled 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 unmodeled dynamics. A continuous consensus tracking controller is developed based on this identifier to achieve asymptotic consensus tracking using the local information obtained from neighboring agents. A sufficient condition is derived to ensure consensus tracking and asymptotic stability of the closed-loop system using algebraic graph theory, 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：3214 / 3220

页数：7

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