Distributed tracking control of second-order multi-agent systems under measurement noises
This paper considers a leader-following tracking control problem for second-order multiagent systems (MASs) under measurement noises and directed communication channels. It is assumed that each follower-agent can measure the relative positions and velocities of its neighbors in a noisy environment....
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| Main Authors: | , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
2015
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/106019 http://hdl.handle.net/10220/26114 http://dx.doi.org/10.1007/s11424-014-1070-z |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | This paper considers a leader-following tracking control problem for second-order multiagent systems (MASs) under measurement noises and directed communication channels. It is assumed that each follower-agent can measure the relative positions and velocities of its neighbors in a noisy environment. Based on a novel velocity decomposition technique, a neighbor-based control law is designed to realize local control strategies for these continuous-time agents. It is shown that the proposed consensus protocol can guarantee that all the follower-agents track the active leader. In addition, this result is extended to a more general case with switching topologies. Finally, a numerical example is given for illustration. |
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