Distributed Tracking of Nonlinear Multiagent Systems Under Directed Switching Topology: An Observer-Based Protocol
| Autor: | Wenwu Yu, Guanghui Wen, Xinghuo Yu, Yuanqing Xia, Jianqiang Hu |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
Lyapunov function
0209 industrial biotechnology Observer (quantum physics) Weak topology Multi-agent system Topology (electrical circuits) Extension topology 02 engineering and technology Topology Computer Science Applications Human-Computer Interaction symbols.namesake Dwell time 020901 industrial engineering & automation Consensus Control and Systems Engineering Control theory 0202 electrical engineering electronic engineering information engineering symbols 020201 artificial intelligence & image processing Electrical and Electronic Engineering Software Mathematics |
| Zdroj: | IEEE Transactions on Systems, Man, and Cybernetics: Systems. 47:869-881 |
| ISSN: | 2168-2232 2168-2216 |
| Popis: | This paper deals with a consensus tracking problem for multiagent systems (MASs) with Lipschitz-type nonlinear dynamics and directed switching topology. Unlike most existing works where the relative full state measurements of neighboring agents are utilized, it is assumed that only the relative output measurements of neighboring agents are available for coordination. To achieve consensus tracking in the considered MASs, a new class of observer-based protocols is proposed. By appropriately constructing some topology-dependent multiple Lyapunov functions, it is theoretically shown that distributed consensus tracking in the closed-loop MASs equipped with the designed protocols can be ensured if each possible topology contains a directed spanning tree rooted at the leader and the dwell time for the switchings among different topology is less than a derived positive quantity. Interestingly, it is found that the communication topology for observers’ states may be independent with that of the feedback signals. The derived results are further extended to the case of directed switching topology with only average dwell time constraints. Finally, the effectiveness of the analytical results is demonstrated via numerical simulations. |
| Databáze: | OpenAIRE |
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