Coordinated orbit-tracking control of second-order non-linear agents with directed communication topologies. Issue 16 (9th December 2016)

• Record Type: Journal Article
• Authors: Chen, Y.-Y.; Zhang, Y.; Liu, C.-L.; Wei, P.
• Is Part Of: International journal of systems science. Volume 47:Issue 16(2016)
• Page Start: 3929
• Page End: 3939
• Publication Date: 2016-12-09
• Subjects: Coordinated orbit-tracking control -- second-order non-linear dynamics -- curve extension -- cascade system -- directed communication topology; System analysis -- Periodicals; 003.3
• DOI: 10.1080/00207721.2016.1139759
• Languages: English
• ISSNs: 0020-7721

Abstract

ABSTRACT: This paper deals with two-dimensional and three-dimensional cooperative control of multiple agents formation tracking a set of given closed orbits, where each agent has intrinsic second-order non-linear dynamics and the communication topology among agents is directed. By using our previous curve extension method, the cooperative control system can be regarded as a cascade system composed of the orbit-tracking subsystem and the formation subsystem with the orbit-tracking error as input. A novel solution is established by separatively designing the orbit-tracking control law and the formation control protocol ignoring the perturbation at first and then applying input-to-state stability theory to analyse the asymptotic stability of the cascade system. It is shown that the closed-loop system is asymptotic stability if the directed communication topology contains a directed spanning tree. The effectiveness of the analytical results is verified by numerical simulations.