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Formation Tracking for Nonlinear Multi‐Agent Systems with Delays and Noise Disturbance
Author(s) -
Lai Jingang,
Chen Shihua,
Lu Xiaoqing,
Zhou Hong
Publication year - 2015
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.937
Subject(s) - nonlinear system , control theory (sociology) , disturbance (geology) , tracking (education) , noise (video) , interconnection , mean square , computer science , multi agent system , square (algebra) , network topology , simple (philosophy) , topology (electrical circuits) , mathematics , control (management) , telecommunications , artificial intelligence , physics , psychology , paleontology , pedagogy , philosophy , geometry , epistemology , quantum mechanics , combinatorics , image (mathematics) , biology , operating system
This paper investigates the formation tracking problem of nonlinear multi‐agent systems with communication delays and noise disturbance under directed interconnection topologies. By using a novel stochastic analysis approach and matrix theory, one establishes three formation tracking protocols containing nonlinear coupling function and delays such that the desired formations can be achieved in the sense of mean square under a special “multiple leaders” framework. Some new sufficient conditions of time‐delay dependence for the formation tracking in mean square are also developed. A simple example is given to illustrate the effectiveness of the proposed theoretical results.