Consensus tracking of general linear multi-agent systems: fast sliding-mode algorithms
Huiyang Liu; Long Cheng; Min Tan; Zeng-Guang Hou; Yunpeng Wang
2013
会议名称32rd Chinese Control Conference (CCC)
会议日期JUL 26-28, 2013
会议地点Xian
会议举办国China
摘要This paper solves distributed consensus tracking problems where the task is to make the multi-agent network, with each agent described by a general linear dynamics, to reach consensus with a leader whose control input is nonzero and not available to any followers. A set of sliding mode surfaces are defined and then fast sliding mode controllers are designed for both reduced order and non-reduced order cases. It is shown that all the trajectories exponentially converge to the sliding mode surfaces in a finite time if the leader has a directed path to at least one of the followers in a strongly connected and detailed balanced directed interaction graph and the leader's control input is bounded. The control Lyapunov function for exponential finite time stability, motivated by the fast terminal sliding mode control, is used to prove the reachability of the sliding mode surfaces. Simulation examples are given to illustrate the theoretical results.
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/23149
专题复杂系统管理与控制国家重点实验室_先进机器人
推荐引用方式
GB/T 7714
Huiyang Liu,Long Cheng,Min Tan,et al. Consensus tracking of general linear multi-agent systems: fast sliding-mode algorithms[C],2013.
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