Finite-Time Distributed Tracking Control for Multi-Agent Systems With a Virtual Leader

This paper aims at further investigating the finite-time distributed tracking control problems for multi-agent systems with a virtual leader under the conditions of fixed and switching topologies, respectively. Two continuous distributed tracking protocols are designed for tracking the virtual leade...

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Bibliographic Details
Published inIEEE transactions on circuits and systems. I, Regular papers Vol. 60; no. 2; pp. 352 - 362
Main Authors Lu, Xiaoqing, Lu, Renquan, Chen, Shihua, Lu, Jinhu
Format Journal Article
LanguageEnglish
Published IEEE 01.02.2013
Subjects
Convergence
Finite-time consensus
multi-agent systems
Multiagent systems
Network topology
Protocols
Switches
switching topology
Topology
tracking control
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Summary:This paper aims at further investigating the finite-time distributed tracking control problems for multi-agent systems with a virtual leader under the conditions of fixed and switching topologies, respectively. Two continuous distributed tracking protocols are designed for tracking the virtual leader in finite time. Compared with the traditional distributed tracking protocols, the proposed distributed tracking protocols can reach consensus in finite time. In particular, to eliminate the chattering phenomenon occurred in non-Lipschitz dynamical systems, this paper introduces a saturation function to replace the original sign function in the proposed distributed tracking protocols. The improved protocols can guide all agents to track the virtual leader without chattering phenomenon in finite time for the same position. Numerical simulations are also given to validate the proposed distributed tracking protocols.
ISSN:1549-8328
1558-0806
DOI:10.1109/TCSI.2012.2215786