Finite-time Consensus Tracking for Nonlinear Multi-Agent Systems under Undirected and Directed Communication Topologies
This paper addresses the distributed finite-time consensus tracking problem for nonlinear multi-agent systems with external disturbances under fixed undirected and directed communication topologies. A distributed tracking algorithm is proposed, which is based only on the relative information between neighboring agents. By using tools from sliding-mode control theory, it is theoretically shown that the states of the followers can track that of the leader in finite time, if there exists a directed path from the leader to each follower. As a byproduct, some sufficient conditions for finite-time consensus tracking of multi-agent systems without external disturbances are also presented. A numerical example is finally given to illustrate the theoretical results.
Multi-Agent system Nonlinear Dynamics Finite-Time Control Consensus Tracking
ZHANG Yanjiao YANG Ying ZHAO Yu WEN Guanghui
State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Aerospace Engineering, College ofEngineering, Peking University, Beijing 100871, P. R. China
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
6214-6219
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）