Cooperative Tracking for Multi-agent Systems with General Linear Dynamics via Continuous Controllers
This paper deals with the cooperative tracking problem for multi-agent systems with general linear dynamics.A novel estimator-based tracking algorithm is proposed,together with a sufficient condition for the followers to track the dynamic leader.In this algorithm,an estimator is designed to estimate the unknown control input of the leader.Different from most of the existing algorithms on coordinated tracking problems for multi-agent systems,where discontinuous controllers are used,the control input in this algorithm is continuous.Theoretical analysis shows that the followers can track the leader with ultimately bounded tracking errors,if parameters in the cooperative tracking algorithm are properly chosen.A numerical example is given to illustrate the effectiveness of the proposed algorithm.
Cooperative tracking multi-agent systems
LI Jianzhen
School of Electronics and Information,Jiangsu University of Science and Technology,Zhenjiang 212003,P.R.China
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
1540-1544
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）