NDLI: Finite-time consensus tracking for multi-agent systems with settling time estimation

Content Provider	IEEE Xplore Digital Library
Author	Zhao Yu Duan Zhisheng Chen Guanrong
Copyright Year	2014
Description	Author affiliation: Dept. of Electron. Eng., City Univ. of Hong Kong, Hong Kong, China (Chen Guanrong) \|\| Dept. of Mech. & Eng. Sci., Peking Univ., Beijing, China (Zhao Yu; Duan Zhisheng)
Abstract	This paper investigates the distributed finite-time consensus tracking problem for a group of autonomous agents modeled by double-integrator dynamics under a leader with non-zero acceleration. First of all, a distributed finite-time consensus tracking protocol is proposed based on the relative position and relative velocity measurements. By using a Lyapunov function, it is shown that distributed consensus tracking can be achieved in finite time under the condition that the acceleration of the leader is bounded but not available to followers. In particular, the settling time can be estimated efficiently by computing the value of the Lyapunov function at the initial point. Then, a new observer-based algorithm is designed to solve the finite-time consensus tracking problem when the relative velocity measurements are not available to the agents. It is proved that the states of the followers can move to that of the leader in finite time if the network topology is undirected among the followers but has a directed path from the leader to each follower. Finally, the effectiveness of the algorithms is illustrated by numerical simulations.
Starting Page	1132
Ending Page	1137
File Size	492500
Page Count	6
File Format	PDF
ISBN	9789881563873
ISSN	19341768
DOI	10.1109/ChiCC.2014.6896787
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-07-28
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	TCCT, CAA
Subject Keyword	Protocols Multi-agent system Estimation Distributed control Settling time estimation Topology Non-zero acceleration Acceleration Velocity measurement Finite-time tracking Multi-agent systems Lyapunov methods
Content Type	Text
Resource Type	Article

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