Open AccessDistributed finite‐time tracking of second‐order multi‐agent systems: An edge‐based approach
Author(s) -
Zhao Yu,
Liu Yongfang,
Wen Guanghui,
Alotaibi N.D.,
Shi Zhongke
Publication year - 2018
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.2017.0205
Subject(s) - multi agent system , tracking (education) , settling time , topology (electrical circuits) , control theory (sociology) , protocol (science) , computer science , position (finance) , node (physics) , mathematics , lyapunov function , function (biology) , tree (set theory) , control (management) , nonlinear system , mathematical analysis , control engineering , artificial intelligence , engineering , step response , pedagogy , psychology , finance , economics , alternative medicine , structural engineering , pathology , biology , quantum mechanics , evolutionary biology , medicine , physics , combinatorics
Distributed finite‐time tracking problem of a multi‐agent system with second‐order non‐linear dynamics is studied in this article. Based on measurements of edges, a finite‐time tracking protocol is proposed without relying the complete position and velocity measurements. It means that the proposed protocol only requires a binary information between the neighbouring agent. By designing a carefully constructed Lyapunov function, the distributed finite‐time tracking problem is solved if the sub‐topology among the followers is connected and undirected and the topology of whole systems has a spanning tree with a leader been a root node. Furthermore, it has successfully estimated the finite settling time in theory with the proposed control protocol. The authors provide a numerical example to illustrate the effectiveness of the analytical results.