Title :
Second-order event-triggered tracking control with only position measurements
Author_Institution :
Sch. of Control Eng., Univ. of Electron. Sci. & Technol. of China, Chengdu, China
Abstract :
In this paper, a distributed tracking control is proposed for a second-order multi-agent system with an active leader, based on a decentralized event-triggered scheduling strategy and a novel distributed velocity estimation technique. The acceleration of the leader is assumed to be time-varying and partially unknown. By applying dynamic tracking control with an event-triggered strategy to the system, the ultimate boundedness stability of the tracking error is ensured by Lyapunov stability theory. Some numerical simulation results are given to demonstrate the effectiveness of the new approach.
Keywords :
Lyapunov methods; decentralised control; distributed parameter systems; multi-agent systems; numerical analysis; position control; position measurement; stability; time-varying systems; Lyapunov stability theory; active leader; decentralized event-triggered scheduling strategy; distributed tracking control; distributed velocity estimation technique; dynamic tracking control; numerical simulation; position measurements; second-order multi-agent system; time-varying system; tracking error; ultimate boundedness stability; Acceleration; Estimation; Lead; Multi-agent systems; Position measurement; Symmetric matrices; Velocity measurement;
Conference_Titel :
Control Automation Robotics & Vision (ICARCV), 2012 12th International Conference on
Conference_Location :
Guangzhou
Print_ISBN :
978-1-4673-1871-6
Electronic_ISBN :
978-1-4673-1870-9
DOI :
10.1109/ICARCV.2012.6485222
