Journal
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS
Volume 60, Issue 2, Pages 352-362Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCSI.2012.2215786
Keywords
Finite-time consensus; multi-agent systems; switching topology; tracking control
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Funding
- National Natural Science Foundation of China [61025017, 11072254, 61273215, 61203148]
- Australian Research Council [FT0992226]
- Australian Research Council [FT0992226] Funding Source: Australian Research Council
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This paper aims at further investigating the finite-time distributed tracking control problems for multi-agent systems with a virtual leader under the conditions of fixed and switching topologies, respectively. Two continuous distributed tracking protocols are designed for tracking the virtual leader in finite time. Compared with the traditional distributed tracking protocols, the proposed distributed tracking protocols can reach consensus in finite time. In particular, to eliminate the chattering phenomenon occurred in non-Lipschitz dynamical systems, this paper introduces a saturation function to replace the original sign function in the proposed distributed tracking protocols. The improved protocols can guide all agents to track the virtual leader without chattering phenomenon in finite time for the same position. Numerical simulations are also given to validate the proposed distributed tracking protocols.
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