Multi-tracking of second-order multi-agent systems using impulsive control

Coordinated Tracking for Nonlinear Multiagent Systems under Variable‐Time Impulsive Control

“…Let 1 ( ) be another solution of the continuous subsystem of (10) in time interval ( , ] having the relationship of 0 ( ) that 1 ( ) = 0 ( +) = 0 ( ) + (( + ) ⊗ ) 0 ( ) . (13) Define the following map:…”

“…In [11], a distributed impulsive protocol was proposed to implement second-order multitracking task 2 Complexity by using only position sampled data of agents. Reference [13] investigated network-based leader-following impulsive consensus in nonlinear multiagent systems, which took networkdeduced delay into consideration. However, impulsive control of [11][12][13] often happens at fixed time, which means the impulsive instants are predesigned and independent of systems.…”

“…Reference [13] investigated network-based leader-following impulsive consensus in nonlinear multiagent systems, which took networkdeduced delay into consideration. However, impulsive control of [11][12][13] often happens at fixed time, which means the impulsive instants are predesigned and independent of systems. In the practical cases, especially in biological and physiological fields, impulses do not always happen at fixed time.…”

“…Motivated by the above discussions, we investigate variable-time impulsive control for coordinated tracking problem in nonlinear multiagent systems. The main contributions of this paper are twofold: first, compared with fixed-time impulsive control for coordinated tracking in multiagent systems in the existing works in [11][12][13], the impulsive time instants are designed to a more general case, varying with time, called variable-time impulsive control. To cope with the difficulty in directly analyzing the variable-time impulsive controllers, we select some proper conditions that guarantee that the coordinated tracking solution intersects impulsive surface only at once, and then B-equivalence method is employed to construct comparison systems with fixed-time impulsive controller of the variable-time ones; at last, we theoretically present that the two systems have the same stability.…”

Multiple Time-Varying Formation of Networked Heterogeneous Robotic Systems via Estimator-Based Hierarchical Cooperative Algorithms

“…However, in many practical circumstances, the main results of the above literature studies cannot be directly applied if the networked systems are required to execute multiple tasks concurrently. A few works centralized on multiple tracking [7,36,37], multiple formation [16,17], and group time-varying formation [19] are thus activated. To the best of our knowledge, the time-varying formation tracking problem of NHRSs in the task space remains unsolved, let alone the multiple time-varying formation tracking problem.…”