Consensus tracking for higher-order multi-agent systems with switching directed topologies and occasionally missing control inputs

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• 作者：Guanghui Wen ; Guoqiang Hu ; Wenwu Yu ; Jinde Cao ; Guanrong Chen
• 关键词：Higher-order multi-agent system ; Consensus tracking ; Switching directed topology ; Missing control input
• 刊名：Systems and Control Letters
• 出版年：December, 2013
• 年：2013
• 卷：62
• 期：12
• 页码：1151-1158
• 全文大小：688 K

文摘

This paper studies the distributed consensus tracking problem of linear higher-order multi-agent systems with switching directed topologies and occasionally missing control inputs. In this framework, the underlying topology of dynamic agents may switch among several directed graphs, each having a directed spanning tree rooted at the leader. Furthermore, the control inputs to the followers may be temporally missed due to actuator failures and network-induced packet loss. To guarantee asymptotic consensus tracking in such a multi-agent system, several distributed controllers are constructed based only on the relative state information of neighboring agents. By appropriately constructing a switching Lyapunov function and using tools from the -matrix theory, some sufficient conditions for achieving distributed consensus tracking are provided. Finally, some numerical simulations are given to illustrate the theoretical analysis.