Formation Tracking for Nonlinear Agents with Unknown Second-Order Locally Lipschitz Continuous Dyn

摘要：

This paper investigates the formation tracking problem for a group of networked agents with second-order unknown locally Lipschitz continuous nonlinear dynamics. By utilizing the ISS (input-to-state stable) notion and backstepping design method, a distributed control strategy is proposed with the aid of graph theory and the cyclic-small-gain theorem. The proposed strategy can drive the positions of the agents to converge to a desired geometric pattern, as well as the position center of the agents to trace a desired trajectory.

关键词： Multi-agent system formation tracking second-order nonlinear dynamics locally Lipschitz continue ISS

作者: Xiangke WANG Jiahu QIN Xun LI Zhiqiang ZHENG

作者单位: College of Mechatronics and Automation, National University of Defense Technology, Changsha 410073, Research School of Engineering, the Australian National University, Canberra ACT 2601, Australia Res

会议类型: 国际会议

会议名称: The 31st Chinese Control Conference(第三十一届中国控制会议)

会议地点: 合肥

会议语种:英文

页码: 6112-6117

在线出版日期: 2012-07-01（万方平台首次上网日期，不代表论文的发表时间）