期刊
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
卷 62, 期 2, 页码 894-900出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2016.2560145
关键词
Fractional-order system; general nyquist stability criterion; identical control-input delay; laplace transform; leader-following tracking consensus
资金
- National Natural Science Foundation of China [61322302, 61573096, 61304168]
- National Ten Thousand Talent Program for Young Top-notch Talents
- Six Talent Peaks of Jiangsu Province of China [2014-DZXX-004]
- Natural Science Foundation of Jiangsu Province of China [BK20130595]
- Fundamental Research Funds for the Central Universities of China [2242016K41058]
- [DP140100544]
This technical note studies the leader-following tracking consensus problem of a class of multi-agent systems where the dynamics of the leader is described by second-order systems. In order to track the states of the leader, observers for the followers are designed by fractional-ordermulti-agent systems where the relative velocity information is unavailable. It is interestingly found that the followers can track the leader with second-order dynamics even if the fractional order is less than two by only using the position information of the local neighbors, which is different from the existing results. A novel fractional-order observer is first proposed, whose order is surprisingly less than the original leader system. It is also shown that leader-following consensus can be ensured if some carefully selected followers are informed and the relative position-based protocols are appropriately designed with fractional order being between one and two. A necessary and sufficient condition for the leader-following consensus in multi-agent systems without control-input delay is proposed. The results are then extended to the case with constant control-input delay. It is found that, in both cases, the real and imaginary parts of the eigenvalues of the augmented Laplacian matrix of the topology play an important role in achieving consensus.
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