Robust multi-tracking of heterogeneous multi-agent systems with uncertain nonlinearities and disturbances. Issue 8 (May 2018)

• Record Type: Journal Article
• Authors: Zhang, Xian-He; Han, Guang-Song; Guan, Zhi-Hong; Li, Juan; Zhang, Ding-Xue; Liao, Rui-Quan
• Is Part Of: Journal of the Franklin Institute. Volume 355:Issue 8(2018)
• Page Start: 3677
• Page End: 3690
• Publication Date: 2018-05
• Subjects: Science -- Periodicals; Technology -- Periodicals; Patents -- United States -- Periodicals; 505
• DOI: 10.1016/j.jfranklin.2018.01.047
• Languages: English
• ISSNs: 0016-0032

Abstract

Abstract: A robust multi-tracking problem is solved for heterogeneous multi-agent systems with uncertain nonlinearities and disturbances. The nonlinear function satisfies a Lipschitz condition with a time-varying gain, the integral of which is bounded by a linear function. A distributed impulsive protocol is proposed, where the position data and velocity data of desired trajectories are needed only at sampling instants. Based on the system decomposition technique, the error dynamic system of achieving multi-tracking is decomposed into two impulsive dynamic systems with vanishing perturbation and nonvanishing perturbation, respectively. Constructing a nominal model, then the multi-tracking problem is converted into the stability of impulsive dynamic system with nonvanishing perturbation under some conditions. It is proved that the proposed impulsive protocol is robust enough to solve the multi-tracking problem. Numerical examples are presented to illustrate the effectiveness of our theoretical results.