Finite-Time Distributed Tracking Control for Multi-Agent Systems With a Virtual Leader

Lu, Xiaoqing; Lu, Renquan; Chen, Shihua; Lü, Jinhu

doi:10.1109/tcsi.2012.2215786

Cited by 163 publications

(84 citation statements)

References 37 publications

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“…A necessary condition presented in [8] to solve consensus problem of second-order MAS was that the graph had a (directed) spanning tree. The second-order consensus of MAS has been discussed in [9][10][11][12][13][14]. Most of works on MAS have a common feature that their systems are linear, for example [4, 9-11, 15, 16].…”

Section: Introductionmentioning

confidence: 99%

“…However, sometimes we also require that the consensus state is time-varying and/or can be designed to achieve the specific objectives. So the leader-following consensus control of MAS was proposed, for example [7,[9][10][11][12][13]23]. In the leader-following consensus problem, the leader agent is a particular agent that can affect the motion of the other agents directly or indirectly, but is independent of, and followed by the other agents.…”

Section: Introductionmentioning

confidence: 99%

“…So it is significant to investigate the finite-time leader-following consensus control of MAS. In recent years, a few of efforts have been taken to solve the finite time consensus control problem [11,12,[27][28][29][30][31][32][33][34]. However, most of them dealt with the consensus problem of linear MAS with directed or undirected communication topology.…”

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confidence: 99%

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Sliding mode leader‐following consensus controllers for second‐order non‐linear multi‐agent systems

Ren

Chen

2015

IET Control Theory & Applications

137

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This study discusses the asymptotic consensus problem and finite-time leader-following consensus problem of second-order non-linear multi-agent systems (MASs) with directed communication topology. On the basis of the sliding mode control theory, a new distributed asymptotic consensus controller is proposed to ensure that the consensus of MAS can be reached as time goes to infinity. Another finite-time consensus control algorithm is also proposed based on terminal sliding mode control. The finite-time consensus controller can force the states of MAS to achieve the designed terminal sliding mode surface in finite time and maintain on it. The authors also can prove the consensus of MAS can be obtained in finite time on the terminal sliding mode surface if the directed topology has a directed spanning tree. Simulations are given to illustrate the effectiveness of the proposed approaches. IntroductionIn recent years, multi-agent systems (MASs) have attracted great attentions because of the wide practical applications. In many applications, a group of agents which can communicate with their neighbours are required to accomplish some challenging tasks together and the single agent can coordinate with the other agents by sharing its information with its neighbours. If all the agents in the group can reach an agreement, then the agents can reach the consensus. A consensus algorithm or protocol is an interaction rule that specifies the information exchange between an agent and all of its neighbours on the network [1]. The works on consensus problem have primarily studied the first-order MAS [2][3][4][5][6][7]. Compared with the first-order MAS, the consensus problem of the secondorder MAS is more difficult and complicated. As the consensus of second-order systems not only contains the position consensus like in first-order MAS but also contains the velocity consensus. A necessary condition presented in [8] to solve consensus problem of second-order MAS was that the graph had a (directed) spanning tree. The second-order consensus of MAS has been discussed in [9][10][11][12][13][14]. Most of works on MAS have a common feature that their systems are linear, for example [4, 9-11, 15, 16]. The consensus investigation of non-linear systems is more challenging than that of the linear systems. However, non-linearity is ubiquitous in physical phenomena, and many works have been done to research the nonlinear dynamic system, for example [17][18][19][20][21][22] and references therein. A class of non-linear system with unknown constant parameters was discussed in [17] and the backstepping technique was used to solve the robust adaptive failure compensation problem of hysteretic actuators. However, the unknown non-linear parts of the system in [17] were assumed to be linearly parameterised, that is, the unknown non-linear function of the dynamics model could be written in the form of a i f i where a i was the unknown constant and f i was the known non-linear function. In [20][21][22], the completely unknown non-linear dynamics were co...

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Sliding mode leader‐following consensus controllers for second‐order non‐linear multi‐agent systems

Ren

Chen

2015

IET Control Theory & Applications

137

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“…As a typical control method, leader-following consensus algorithms have been extensively adopted to solve the stationary and dynamical consensus problems for multi-agent systems, and abundant results have been achieved in the past decade [5,6,25,26,[29][30][31][32]. Under the leader-following coordination control structure, the agents' states are required to converge to the leader's states asymptotically, i.e.,…”

Section: Agent's Dynamicsmentioning

confidence: 99%

Delayed-Compensation Algorithm for Second-Order Leader-Following Consensus Seeking under Communication Delay

Liu

2015

Entropy

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In this paper, the leader-following consensus algorithm, which is accompanied with compensations related to neighboring agents' delayed states, is constructed for second-order multi-agent systems with communication delay. Using frequency-domain analysis, delay-independent and delay-dependent consensus conditions are obtained for second-order agents respectively to converge to the dynamical leader's states asymptotically. Simulation illustrates the correctness of the results.

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“…However, in many practical applications, there might exist one or more leaders in the multi-agent systems. When there is a single leader in multi-agent systems, the readers can refer to [17][18][19][20] and the references therein for more details.…”

Section: Introductionmentioning

confidence: 99%

Necessary and sufficient conditions for distributed containment control of multi‐agent systems without velocity measurement

Zheng

et al. 2014

IET Control Theory & Applications

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This study investigates the distributed containment control for second-order multi-agent systems with multiple stationary or dynamic leaders based on only position information. Based on stability and algebraic graph theories, some necessary and sufficient conditions are obtained. Firstly, when the leaders are stationary, a necessary and sufficient condition is given to guarantee that all followers will ultimately converge to the stationary convex hull spanned by the stationary leaders for arbitrary initial states. The containment control protocol is designed based on a distributed filter, which is used for estimating the neighbours' velocities of each follower. Secondly, when each leader is dynamic with constant velocity, using sampled current and outdated position data, a necessary and sufficient condition is obtained to drive the followers into the dynamic convex hull spanned by the dynamic leaders. Finally, some numerical simulations are presented to illustrate the proposed theories.

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Finite-Time Distributed Tracking Control for Multi-Agent Systems With a Virtual Leader

Cited by 163 publications

References 37 publications

Sliding mode leader‐following consensus controllers for second‐order non‐linear multi‐agent systems

Sliding mode leader‐following consensus controllers for second‐order non‐linear multi‐agent systems

Delayed-Compensation Algorithm for Second-Order Leader-Following Consensus Seeking under Communication Delay

Necessary and sufficient conditions for distributed containment control of multi‐agent systems without velocity measurement

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