Prescribed Finite-Time Consensus Tracking for Multiagent Systems With Nonholonomic Chained-Form Dynamics

• Published in: IEEE transactions on automatic control Vol. 64; no. 4; pp. 1686 - 1693
• Main Authors: Ning, Boda, Han, Qing-Long
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.04.2019; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Consensus tracking; Convergence; Dependence; Initial conditions; Multi-agent systems; Multiagent systems; nonholonomic chained-form systems; Observers; prescribed finite-time consensus; Protocols; Robots; Target tracking; Tracking problem; Unknown environments

This paper deals with the consensus tracking problem for a multiagent system with nonholonomic chained-form dynamics. A new distributed observer is first proposed for each follower to estimate the leader state and the leader input in a prescribed finite-time under both undirected and directed commun...