Fully distributed finite-time leader-following control for high-order integrator systems with directed communication graphs

Author

Junjie, Fu ; Jinzhi, Wang ; Zhongkui, Li

Author_Institution

State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, College of Engineering, Peking University, Beijing, 100871, P.R. China

fYear

2015

fDate

28-30 July 2015

Firstpage

6912

Lastpage

6917

Abstract

In this paper, we study the finite-time leader-following control problem for a network of high-order integrator systems with a dynamic leader under general directed communication graphs. It is assumed that only relative states are available for each follower and no global information about the communication topology such as the eigenvalues of the Laplacian matrix is available for the controller design. Employing adaptive control and sliding-mode control techniques, a distributed finite-time coordinated tracking controller is designed using only local information. A numerical simulation is provided to illustrate the effectiveness of the proposed control strategy.

Keywords

Adaptive control; Eigenvalues and eigenfunctions; Laplace equations; Multi-agent systems; Sliding mode control; Topology; Directed graphs; Finite-time coordinated tracking; Fully distributed; High-order integrator system; Multi-agent system;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2015 34th Chinese

Conference_Location

Hangzhou, China

Type

conf

DOI

10.1109/ChiCC.2015.7260732

Filename

7260732