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On distributed finite‐time observer design and finite‐time coordinated tracking of multiple double integrator systems via local interactions
Author(s) -
Meng Ziyang,
Lin Zongli
Publication year - 2013
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.3004
Subject(s) - bounded function , double integrator , integrator , control theory (sociology) , observer (physics) , tracking (education) , topology (electrical circuits) , computer science , state observer , mathematics , control (management) , mathematical analysis , physics , nonlinear system , bandwidth (computing) , psychology , computer network , pedagogy , quantum mechanics , combinatorics , artificial intelligence
SUMMARY This paper studies finite‐time coordinated tracking problem for multiple double integrator systems with a time‐varying leader's velocity and bounded external disturbances. We consider the dynamic feedback designs for two different cases. In the first case, the velocities of the followers and the leader are assumed to be unavailable, and the communication topology is assumed to be undirected and fixed. In the second case, the velocities of the followers and the leader are assumed to be available, and the communication topology is assumed to be directed and switching. Distributed finite‐time observers are designed, respectively, to obtain the velocity information in the first case and the relative state information in the second case. The states of these observers are then used to design control inputs that achieve finite time robust coordinated tracking of multiple double integrator systems in the presence of bounded disturbances for these two cases. Simulation results are provided to validate the effectiveness of these theoretical results. Copyright © 2013 John Wiley & Sons, Ltd.