کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
756341 | 896145 | 2013 | 7 صفحه PDF | دانلود رایگان |
This paper addresses the distributed finite-time tracking control problem for second-order multi-agent systems. First, we propose a finite-time tracking protocol for multi-agent systems by using state feedback. Then, a new class of observer-based control algorithms are designed for achieving finite-time consensus tracking in multi-agent systems with a single active leader, where each agent can only share its position states with its neighbors. Within the same context, the present control algorithms are then extended to solve the finite-time containment tracking problem for multi-agent systems in the presence of multiple active leaders. It is theoretically shown that the position states of the followers will converge to that of the leader or a convex hull spanned by those of the leaders, respectively, in finite time. Furthermore, the finite-time formation control problem is discussed. The effectiveness of the results is also illustrated by numerical simulations.
Journal: Systems & Control Letters - Volume 62, Issue 1, January 2013, Pages 22–28