Robust multi-tracking of heterogeneous multi-agent systems with uncertain nonlinearities and disturbances |
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| Authors: | Xian-He Zhang Guang-Song Han Zhi-Hong Guan Juan Li Ding-Xue Zhang Rui-Quan Liao |
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| Institution: | 1. College of Automation, Huazhong University of Science and Technology, Wuhan 430074, PR China;2. College of Mechatronics and Control Engineering, Hubei Normal University, Huangshi 435002, PR China;3. School of Statistics and Mathematics, Zhongnan University of Economics and Law, Wuhan 430073, PR China;4. Petroleum Engineering College, Yangtze University, Jingzhou 434023, PR China |
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| Abstract: | A robust multi-tracking problem is solved for heterogeneous multi-agent systems with uncertain nonlinearities and disturbances. The nonlinear function satisfies a Lipschitz condition with a time-varying gain, the integral of which is bounded by a linear function. A distributed impulsive protocol is proposed, where the position data and velocity data of desired trajectories are needed only at sampling instants. Based on the system decomposition technique, the error dynamic system of achieving multi-tracking is decomposed into two impulsive dynamic systems with vanishing perturbation and nonvanishing perturbation, respectively. Constructing a nominal model, then the multi-tracking problem is converted into the stability of impulsive dynamic system with nonvanishing perturbation under some conditions. It is proved that the proposed impulsive protocol is robust enough to solve the multi-tracking problem. Numerical examples are presented to illustrate the effectiveness of our theoretical results. |
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| Keywords: | Corresponding author |
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