Open AccessCooperative control of multi‐agent systems with variable number of tracking agents
Author(s) -
Li Changchun,
Dong Lijing,
Nguang Sing Kiong
Publication year - 2017
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2016.1343
Subject(s) - control theory (sociology) , tracking (education) , tracking error , computer science , stability (learning theory) , variable (mathematics) , tracking system , lyapunov function , jump , mathematics , control (management) , artificial intelligence , kalman filter , nonlinear system , machine learning , psychology , mathematical analysis , pedagogy , physics , quantum mechanics
A class of switched multi‐agent tracking problems with variable tracking number is explored. During the whole tracking course, tracking agents switch and the tracking number varies over different time intervals. Consequently, tracking errors jump and the dimension of Laplacian matrix of the multi‐agent system changes, which increase the difficulty of analysis. To solve this problem, the authors proposed a switched tracking strategy and designed an average norm of tracking errors as a Lyapunov function. Thereafter, conditions guaranteeing the stability of each subsystem and overall stability of the switched tracking system are obtained. Finally, the effectiveness of the proposed tracking strategy and validity of the theoretical results are verified by a numerical simulation.