Title :
Robust consensus tracking for a class of high-order multi-agent systems
Author :
Chao Sun ; Guoqiang Hu ; Lihua Xie
Author_Institution :
Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore, Singapore
Abstract :
In this paper, we study the robust consensus tracking problem for a class of high-order multi-agent systems with unmodelled dynamics and unknown disturbances. A continuous robust control algorithm is designed for each agent of the high-order multi-agent system to enable robust asymptotic consensus tracking of a desired trajectory signal. By utilizing Lyapunov analysis methods and an invariance-like theorem, sufficient conditions for globally asymptotic tracking are established. Finally, a numerical simulation is provided to show the effectiveness of the proposed algorithm.
Keywords :
Lyapunov methods; asymptotic stability; multi-agent systems; robust control; Lyapunov analysis methods; continuous robust control algorithm; globally asymptotic tracking; high-order multiagent system; invariance-like theorem; numerical simulation; robust asymptotic consensus tracking problem; sufficient conditions; trajectory signal; Heuristic algorithms; Multi-agent systems; Robustness; Stability analysis; Trajectory; Vectors; Vehicle dynamics;
Conference_Titel :
Control Conference (CCC), 2014 33rd Chinese
Conference_Location :
Nanjing
DOI :
10.1109/ChiCC.2014.6896843
