Finite-time consensus tracking for nonlinear multi-agent systems under undirected and directed communication topologies

Yanjiao Zhang, Ying Yang, Yu Zhao, Guanghui Wen

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the 31st Chinese Control Conference, CCC 2012
Pages6214-6219
Number of pages6
StatePublished - 2012
Externally publishedYes
Event31st Chinese Control Conference, CCC 2012 - Hefei, China
Duration: 25 Jul 201227 Jul 2012

Publication series

NameChinese Control Conference, CCC
ISSN (Print)1934-1768
ISSN (Electronic)2161-2927

Conference

Conference31st Chinese Control Conference, CCC 2012
Country/TerritoryChina
CityHefei
Period25/07/1227/07/12

Keywords

  • Consensus Tracking
  • Finite-Time Control
  • Multi-Agent system
  • Nonlinear Dynamics

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