TY - JOUR
T1 - Distributed consensus tracking of multi-agent systems with nonlinear dynamics under a reference leader
AU - Zhao, Yu
AU - Li, Zhongkui
AU - Duan, Zhisheng
PY - 2013/10/1
Y1 - 2013/10/1
N2 - This paper investigates the distributed consensus tracking problem for multi-agent systems with Lipschitz-type dynamics under a reference leader. It is assumed that the leader state information is only available to a subset of followers, while the bounded reference input of the leaders is unavailable to any follower. To achieve consensus tracking, a class of discontinuous protocols based on the relative information between the neighbouring agents are proposed. Furthermore, as extensions of the former result, the robust and adaptive consensus tracking problems are studied for the case where there exist parameter uncertainties and external disturbances in the network. Finally, the effectiveness of the theoretical result is demonstrated through a network of single-link manipulators.
AB - This paper investigates the distributed consensus tracking problem for multi-agent systems with Lipschitz-type dynamics under a reference leader. It is assumed that the leader state information is only available to a subset of followers, while the bounded reference input of the leaders is unavailable to any follower. To achieve consensus tracking, a class of discontinuous protocols based on the relative information between the neighbouring agents are proposed. Furthermore, as extensions of the former result, the robust and adaptive consensus tracking problems are studied for the case where there exist parameter uncertainties and external disturbances in the network. Finally, the effectiveness of the theoretical result is demonstrated through a network of single-link manipulators.
KW - distributed tracking
UR - http://www.scopus.com/inward/record.url?scp=84884904739&partnerID=8YFLogxK
U2 - 10.1080/00207179.2013.797608
DO - 10.1080/00207179.2013.797608
M3 - 文章
AN - SCOPUS:84884904739
SN - 0020-7179
VL - 86
SP - 1859
EP - 1869
JO - International Journal of Control
JF - International Journal of Control
IS - 10
ER -