Tracking problem under a time-varying topology

International Journal of Systems Science

et al. 2014

This paper addresses the tracking problem of a class of multi-agent systems under uncertain communication environments which has been modelled by a finite number of constant Laplacian matrices together with their corresponding scheduling functions. Sliding mode control method is applied to solve this nonlinear tracking problem under a time-varying topology. The controller of each tracking agent has been designed by using only its own and neighbours' information. Sufficient conditions for the existence of a sliding mode control tracking strategy have been provided by the solvability of linear matrix inequalities. At the end of this work, numerical simulations are employed to demonstrate the effectiveness of the proposed sliding mode control tracking strategy.

Section: Numerical Examplesmentioning

confidence: 99%

Section: Numerical Examplesmentioning

confidence: 99%

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

International Journal of Systems Science

et al. 2014

“…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%

“…[10] study tracking problems for multi-agent systems under switching topologies, which are modelled by switching between several fixed topologies. In our previous works [11][12][13][14], we have studied the tracking problem for one target under a timevarying topology and in [14], the communication delay is also considered.…”

Section: Introductionmentioning

confidence: 99%

Stability of a Class of Multiagent Tracking Systems With Unstable Subsystems

et al. 2017

IEEE Trans. Cybern.

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.

“…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

International Journal of Systems Science

et al. 2015

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.