Sliding mode control for multi-agent systems under a time-varying topology

Dong, Lijing; Chai, Senchun; Zhang, Baihai; Nguang, Sing Kiong

doi:10.1080/00207721.2014.979335

Cited by 20 publications

(14 citation statements)

References 24 publications

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“…The objective of tracking is to design distributed control laws to drive the group of agents to reach the desired trajectory of a target agent. So far, most existing studies on the tracking problem focus on the case where agents asymptotically achieve agreement (Chen & Li, 2014;Dong, Chai, & Zhang, 2014;Dong, Chai, Zhang, & Nguang, 2014a, 2014bDong, Chai, Zhang, Nguang, & Wen, 2015;Hong et al, 2006;Wen, Duan, Chen, & Yu, 2014;Yan et al, 2010).…”

Section: Introductionmentioning

confidence: 99%

Finite interval tracking algorithm for nonlinear multi-agent systems with communication delays

Dong

Chai

Zhang

et al. 2015

International Journal of Systems Science

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We propose an iterative learning control (ILC) tracking strategy to solve the tracking problem of multi-agent systems with nonlinear dynamics and time-varying communication delays. The distributed tracking strategy, in which each tracking agent only utilises its own and neighbours' information, enables the tracking agents successfully track a maneuvering target in a finite time interval although with presence of time delays. Compared with the existing related work, the quantitative relationship between the boundary of tracking errors and the estimation of time delays is derived. Furthermore, in many practical control problems, identical initialisation condition may not be satisfied, which is called initial-shift problem. Hence, a forgetting factor is introduced to deal with that problem. It is proved that the presented results are effective via conducting numerical examples.

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Section: Introductionmentioning

confidence: 99%

Finite interval tracking algorithm for nonlinear multi-agent systems with communication delays

Dong

Chai

Zhang

et al. 2015

International Journal of Systems Science

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“…In recent years, the distributed coordination of a group of autonomous agents has attracted considerable attention from multidisciplinary researchers in many fields, partially due to the broad applications of multiagent systems, including formation control of unmanned aerial vehicles, scheduling of automated highway systems, and flocking of satellites . Among existing distributed cooperative control strategies, the distributed consensus tracking of leader‐follower multiagent systems has been widely studied due to its simplicity and robustness in engineering problems .…”

Section: Introductionmentioning

confidence: 99%

Disturbance observer–based consensus tracking for nonlinear multiagent systems with switching topologies

Jia

et al. 2017

Intl J Robust & Nonlinear

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Summary This paper considers the leader‐follower consensus tracking problem for nonlinear multiagent systems with external disturbances and switching topologies. A distributed disturbance observer is constructed to estimate the disturbances suffered by the followers. Then, a distributed consensus protocol is proposed for the consensus tracking problem with disturbance rejection under a fixed directed topology based on the disturbance observer. Next, this result is extended to the case in which the switching communication topology only frequently but not always contains a directed spanning tree. By selecting the parameters appropriately such that the communication time satisfies various preset conditions, it is theoretically proven that the consensus tracking with disturbance rejection can also be achieved by the multiagent systems. Finally, a simulation example is presented to demonstrate the performance of the proposed control scheme.

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“…Multi-agent systems [3][4][5] are then developed and have been widely used in the applications of mobile robots [6] and unmanned vehicles [7,8]. Tracking problem of a target is a typical issue of multi-agent systems and has drawn L. Dong much attention of researchers [9][10][11][12][13][14]. In most of the existing literatures, the topologies of multi-agent systems are supposed to be fixed topologies or switching topologies.…”

Section: Introductionmentioning

confidence: 99%

Stability of a Class of Multiagent Tracking Systems With Unstable Subsystems

Dong

Chai

Zhang

et al. 2017

IEEE Trans. Cybern.

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In this paper, we predeploy a large number of smart agents to monitor an area of interest. This area could be divided into many Voronoi cells by using the knowledge of Voronoi diagram and every Voronoi site agent is responsible for monitoring and tracking the target in its cell. Then, a cooperative relay tracking strategy is proposed such that during the tracking process, when a target enters a new Voronoi cell, this event triggers the switching of both tracking agents and communication topology. This is significantly different from the traditional switching topologies. In addition, during the tracking process, the topology and tracking agents switch, which may lead the tracking system to be stable or unstable. The system switches either among consecutive stable subsystems and consecutive unstable subsystems or between stable and unstable subsystems. The objective of this paper is to design a tracking strategy guaranteeing overall successful tracking despite the existence of unstable subsystems. We also address extended discussions on the case where the dynamics of agents are subject to disturbances and the disturbance attenuation level is achieved. Finally, the proposed tracking strategy is verified by a set of simulations.

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Sliding mode control for multi-agent systems under a time-varying topology

Cited by 20 publications

References 24 publications

Finite interval tracking algorithm for nonlinear multi-agent systems with communication delays

Finite interval tracking algorithm for nonlinear multi-agent systems with communication delays

Disturbance observer–based consensus tracking for nonlinear multiagent systems with switching topologies

Stability of a Class of Multiagent Tracking Systems With Unstable Subsystems

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