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Multi-tracking of second-order multi-agent systems using impulsive control

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Abstract

This paper investigates the multi-tracking of second-order multi-agent systems. A distributed impulsive protocol is designed to solve the multi-tracking problem, which utilizes only position sampled data of the agents and the desired trajectories. In the context of constant desired velocities, a necessary and sufficient condition on feedback gains and sampling period is obtained to guarantee uniform multi-tracking. In the context of time-varying desired velocities, multi-agent systems can reach bounded variable multi-tracking, in which the ultimate tracking error is proportional to the sampling period. Simulation examples are given to illustrate the theoretical analysis.

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Acknowledgments

This work was supported in part by the National Natural Science Foundation of China under Grants 61370093, 61472374, 61473128, 61503415, and 61572084 and the Doctoral Foundation of Ministry of Education of China under Grant 20130142130010.

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Authors and Affiliations

  1. College of Automation, Huazhong University of Science and Technology, Wuhan, 430074, People’s Republic of China

    Guang-Song Han, Zhi-Hong Guan, Ding-Xin He & Ding-Fu Zheng

  2. Key Laboratory of Image Information Processing and Intelligent Control (Huazhong University of Science and Technology), Ministry of Education, Wuhan, 430074, People’s Republic of China

    Guang-Song Han, Zhi-Hong Guan, Ding-Xin He & Ding-Fu Zheng

  3. School of Statistics and Mathematics, Zhongnan University of Economics and Law, Wuhan, 430073, People’s Republic of China

    Juan Li

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  1. Guang-Song Han
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  2. Zhi-Hong Guan
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Correspondence to Zhi-Hong Guan.

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Han, GS., Guan, ZH., Li, J. et al. Multi-tracking of second-order multi-agent systems using impulsive control. Nonlinear Dyn 84, 1771–1781 (2016). https://doi.org/10.1007/s11071-016-2604-9

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  • DOI: https://doi.org/10.1007/s11071-016-2604-9

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