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Consensus tracking for multiagent systems with nonlinear dynamics.

Dong R - ScientificWorldJournal (2014)

Bottom Line: This paper concerns the problem of consensus tracking for multiagent systems with a dynamical leader.In particular, it proposes the corresponding explicit control laws for multiple first-order nonlinear systems, second-order nonlinear systems, and quite general nonlinear systems based on the leader-follower and the tree shaped network topologies.Several numerical simulations are given to verify the theoretical results.

View Article: PubMed Central - PubMed

Affiliation: The State Key Laboratory for Turbulence and Complex System, Department of Mechanics and Engineering Science, College of Engineering, Peking University, Beijing 100871, China.

ABSTRACT
This paper concerns the problem of consensus tracking for multiagent systems with a dynamical leader. In particular, it proposes the corresponding explicit control laws for multiple first-order nonlinear systems, second-order nonlinear systems, and quite general nonlinear systems based on the leader-follower and the tree shaped network topologies. Several numerical simulations are given to verify the theoretical results.

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The norm of error ei, i = 1,2, 3,4, versus time.
© Copyright Policy - open-access
Related In: Results  -  Collection


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fig5: The norm of error ei, i = 1,2, 3,4, versus time.

Mentions: We consider each agent's dynamics to be a simple nonholonomic system specified by the equations as follows:(56)x˙1=u1,x˙2=u2,x˙3=x2u1.Assume that the trajectory and the control input of the leader are, respectively, described by xL0 = (0, t, 0) and uL0 = (0,1), where the superscript L0 means the leader. Choose δ = 0.1 and γij(t) = 1. For the initial value of Fi, i = 1,2, 3,4, given by xF1(0) = (0.4, −0.6,0.4), xF2(0) = (−0.8,1.2,1.8), xF3(0) = (0,2.4,1.4), and xF4(0) = (1, −3.8,2.8), the norm results of tracking error e1(t) = xF1 − xL0, e2(t) = xF2 − xL0, e3(t) = xF3 − xF2, and e4(t) = xF4 − xF2 are shown in Figure 5.


Consensus tracking for multiagent systems with nonlinear dynamics.

Dong R - ScientificWorldJournal (2014)

The norm of error ei, i = 1,2, 3,4, versus time.
© Copyright Policy - open-access
Related In: Results  -  Collection

Show All Figures
getmorefigures.php?uid=PMC4150520&req=5

fig5: The norm of error ei, i = 1,2, 3,4, versus time.
Mentions: We consider each agent's dynamics to be a simple nonholonomic system specified by the equations as follows:(56)x˙1=u1,x˙2=u2,x˙3=x2u1.Assume that the trajectory and the control input of the leader are, respectively, described by xL0 = (0, t, 0) and uL0 = (0,1), where the superscript L0 means the leader. Choose δ = 0.1 and γij(t) = 1. For the initial value of Fi, i = 1,2, 3,4, given by xF1(0) = (0.4, −0.6,0.4), xF2(0) = (−0.8,1.2,1.8), xF3(0) = (0,2.4,1.4), and xF4(0) = (1, −3.8,2.8), the norm results of tracking error e1(t) = xF1 − xL0, e2(t) = xF2 − xL0, e3(t) = xF3 − xF2, and e4(t) = xF4 − xF2 are shown in Figure 5.

Bottom Line: This paper concerns the problem of consensus tracking for multiagent systems with a dynamical leader.In particular, it proposes the corresponding explicit control laws for multiple first-order nonlinear systems, second-order nonlinear systems, and quite general nonlinear systems based on the leader-follower and the tree shaped network topologies.Several numerical simulations are given to verify the theoretical results.

View Article: PubMed Central - PubMed

Affiliation: The State Key Laboratory for Turbulence and Complex System, Department of Mechanics and Engineering Science, College of Engineering, Peking University, Beijing 100871, China.

ABSTRACT
This paper concerns the problem of consensus tracking for multiagent systems with a dynamical leader. In particular, it proposes the corresponding explicit control laws for multiple first-order nonlinear systems, second-order nonlinear systems, and quite general nonlinear systems based on the leader-follower and the tree shaped network topologies. Several numerical simulations are given to verify the theoretical results.

Show MeSH