Distributed Tracking of Nonlinear Multi-Agent Systems with Unstable dynamics

摘要：

　　This paper addresses the problem of distributed output tracking for a class of nonlinear multi-agent systems whose linearized systems may have unstable modes.For the case where the graph topology is directed and the leader is the neighbor of only a small portion of followers,distributed tracking control laws are designed.By using the algebra graph theory,it is shown that all the states of the closed-loop system are bounded,and the tracking errors can be tuned to arbitrarily small.Finally,the design procedure is applied to underactuated unstable mechanical multi-agent systems,from which the efficiency of the tracking controllers is demonstrated.

关键词： Nonlinear Multi-Agent Systems Unstabilizable Linearization Directed Graph Topology

作者: LI Wuquan ZHANG Ji-Feng XIE Lihua

作者单位: School of Mathematics and Statistics Science,Ludong University,Yantai 264025,P.R.China;Key Laborator Key Laboratory of Systems and Control,Institute of Systems Science,Academy of Mathematics and System EXQUISITUS,Centre for E-City,School of Electrical and Electronic Engineering,Nanyang Technological U

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 5881-5884

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）