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Error-constrained Coordinated Tracking Control for High-order Multiagent Systems Based on Barrier Lyapunov Function

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  • Control Theory and Applications
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Abstract

In this paper, the coordinated tracking problem of high-order multiagent systems with preset error constraints is studied. Based on the barrier Lyapunov function method, two novel distributed error-constrained consensus controllers are proposed: time-invariant symmetric error-constrained controller and time-varying asymmetric error-constrained controller. The first controller can meet the requirement of a fixed preset error bound for the system, and the system errors converge with the exponential rate. Then, the second controller is designed based on an error-constrained function and error transformation, which can not only meet the time-varying error constraint but also guarantee the lower bound of the convergence rate of the consensus error. That is, the transient performance of the system is guaranteed. Then, the effectiveness of the two controllers is verified and compared by a simulation example. Furthermore, a full-order error-constrained controller is designed by combining the above two methods, and its effectiveness is verified by the coordinated depth tracking simulation of multiple underwater vehicles.

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Funding

This work was supported by the Tianjin Natural Science Foundation of China under Grant (No. 20JCYBJC01060, 20JCQNJC01450), the National Natural Science Foundation of China under Grant 61973175, the Fundamental Research Funds for the Central Universities under Grant 63201196, and the Tianjin Research Innovation Project for Postgraduate Students under Grant 2020YJSZXB12.

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Authors and Affiliations

  1. School of Artificial Intelligence, Nankai University, 38 Tongyan Road, Tianjin, 300350, China

    Yunbiao Jiang, Zhongxin Liu, Zengqiang Chen & Feng Duan

Authors
  1. Yunbiao Jiang
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  2. Zhongxin Liu
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  3. Zengqiang Chen
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  4. Feng Duan
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Corresponding authors

Correspondence to Zhongxin Liu or Feng Duan.

Additional information

Yunbiao Jiang received his B.S. degree from Dalian Polytechnic University and an M.S. degree from Dalian Maritime University, Dalian, China, in 2016 and 2019, respectively. He is currently pursuing a Ph.D. degree with the College of Artificial Intelligence at Nankai University, Tianjin, China. His research interests include multi-agent systems, unmanned underwater vehicles, robust control, and fault-tolerant control.

Zhongxin Liu received his B.S. degree in automation and a Ph.D. degree in control theory and control engineering from Nankai University, Tianjin, China, in 1997 and 2002, respectively. He has been with Nankai University, where he is currently a Professor with the Department of Automation. His research interests include multiagent systems, nonlinear control theory, as well as complex network theory and its application.

Zengqiang Chen received his B.S. degree in mathematics and his M.S. and Ph.D. degrees in control theory and control engineering from Nankai University, Tianjin, China, in 1987, 1990, and 1997, respectively. He has been with Nankai University, where he is currently a Professor with the Department of Automation. His research interests include predictive control technology, complex network system, chaotic system theory and its application in information security.

Feng Duan received his B.E. and M.E. degrees in mechanical engineering from Tianjin University, Tianjin, China, in 2002 and 2004, respectively, and his M.S. and Ph.D. degrees in precision engineering from The University of Tokyo, Tokyo, Japan, in 2006 and 2009, respectively. He is currently a Professor with Nankai University, China. His research interests include cellular manufacture systems, rehabilitation robots, and brain machine interfaces.

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Jiang, Y., Liu, Z., Chen, Z. et al. Error-constrained Coordinated Tracking Control for High-order Multiagent Systems Based on Barrier Lyapunov Function. Int. J. Control Autom. Syst. 20, 1238–1249 (2022). https://doi.org/10.1007/s12555-021-0144-7

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  • DOI: https://doi.org/10.1007/s12555-021-0144-7

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