Distributed observer design for bounded tracking control of leader-follower multi-agent systems in a sampled-data setting

Abstract

This paper studies the observer-based bounded tracking control problem of second-order multi-agent systems in a disturbance environment via sampled-data control. Two sampled-data protocols are introduced under the assumption that the dynamic leader is only available to a portion of agents and distributed observers are designed to estimate the velocity of the active leader. For the fixed communication topology case, necessary and sufficient conditions of bounded consensus tracking are obtained by using the matrix analysis method. For the switching communication topology case, we prove that system can achieve bounded tracking by applying the common Lyapunov function and perturbation theory. Simulation examples are given to illustrate the effectiveness of our results.

Robust Exponential Stability of an Intermittent Transmission State Estimation Protocol

“…Therefore, V is an appropriate Lyapunov function candidate, as defined in [15,Definition 3.16]. Moreover, due to the choice of the change of coordinates in (10), this function satisfies, regardless of which timer τ k expires, the property that V (ξ + ) − V (ξ) is nonpositive for each ξ ∈ D. The injection of η ik in the flows of the local estimate in (6), and the continuous dynamics of η ik with flow map (8) further permit a decrease of V during flows. By virtue of the aforementioned Lyapunov function candidate, we arrive to the following result.…”

“…Algorithms that treat the communication as impulsive events along the continuous dynamics of the plant have also been developed; see, e.g., [4], [5]. In [6], a distributed observer with undirected fixed communication topology and switching communication topology for periodic sampling time/communication events is presented. Distributed Kalman filtering is employed for achieving spatiallydistributed estimation tasks in [7].…”

Observer-based distributed leader-follower tracking control: a new perspective and results

“…A lead is taken in (Hong et al, 2008) with the development of a distributed observer that allows a follower to estimate the leader's velocity. The notion is extended in (Cheng and Xie, 2014) to achieve tracking control in a sampled-data setting and in (Li et al, 2011) to enable finite-time leader-follower consensus. In (Hu et al, 2015), an observer is proposed for a follower to estimate its relative velocity with respect to the leader.…”

Consensus seeking via iterative learning for multi-agent systems with switching topologies and communication time-delays

“…In addition to [2][3][4][5][6][7][8][9][10][11][12][13], a different class of consensus problems has been investigated (e.g., see [14][15][16][17][18][19][20]). They take advantage of the idea of iterative learning control (ILC) to design distributed protocols such that the agents can achieve consensus exactly over a finite time interval.…”