Multi-agent Rendezvous via Internal Model Approach

摘要：

　　Most of the recent results on the leader-following rendezvous problem focus only on the deterministic multi-agent systems without external disturbances and parameter uncertainties.In this paper,we will present a novel distributed internal model approach to study the leader-following rendezvous problem for double-integrator multi-agent systems subject to both external disturbances and parameter uncertainties.We first give some suitable distributed internal model to convert the rendezvous problem into the stabilization problem with connectivity preserving for its augmented system.Then we stabilize the corresponding augmented system via distributed state feedback control by defining a new potential function and performing the backstepping control technique.Comparing with some recent results,our design can handle a large class of reference signals,external disturbances,and plant uncertainties.

关键词： Multi-agent systems rendezvous internal model connectivity preserving parameter uncertainty

作者: SU Youfeng

作者单位: College of Mathematics and Computer Science,Fuzhou University,Fuzhou 350108,P.R.China

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: 1620-1625

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）