TY - GEN
T1 - Finite-time leader-following tracking by using distributed binary measurements
AU - Zhao, Yu
AU - Liu, Yongfang
AU - Wen, Guanghui
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016
Y1 - 2016
N2 - This paper studies the finite-time leader-following tracking problems for a group of autonomous agents modeled by second-order nonlinear dynamics under a dynamic reference leader. First, based on distributed binary measurements, a class of finite-time leader-following tracking algorithms are only requiring a single-bit quantization error relative to each neighbor. Then, by using a topology-dependent Lyapunov function, the finite-time distributed tracking problem can be solved with a finite settling time estimation if the graph of all agents contains a directed spanning tree with the leader as the root and the subgraph among the followers is undirected. Finally, an example is shown to illustrate the effectiveness of the analytical results.
AB - This paper studies the finite-time leader-following tracking problems for a group of autonomous agents modeled by second-order nonlinear dynamics under a dynamic reference leader. First, based on distributed binary measurements, a class of finite-time leader-following tracking algorithms are only requiring a single-bit quantization error relative to each neighbor. Then, by using a topology-dependent Lyapunov function, the finite-time distributed tracking problem can be solved with a finite settling time estimation if the graph of all agents contains a directed spanning tree with the leader as the root and the subgraph among the followers is undirected. Finally, an example is shown to illustrate the effectiveness of the analytical results.
UR - https://www.scopus.com/pages/publications/85015203760
U2 - 10.1109/ICARCV.2016.7838726
DO - 10.1109/ICARCV.2016.7838726
M3 - 会议稿件
AN - SCOPUS:85015203760
T3 - 2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016
BT - 2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016
Y2 - 13 November 2016 through 15 November 2016
ER -