有向网络下非线性多智能体系统的协调跟踪

基于一致性理论，在有向拓扑结构下研究非线性多智能体系统的协调跟踪控制问题．考虑智能体动力学模型为一般且仅满足Lipschitz条件的非线性系统，在仅有部分跟随智能体能获取领航智能体信息的情形下，当领航智能体与跟随智能体之间的拓扑结构具有有向生成树，即存在领航智能体到所有跟随智能体的有向路径时，所设计的分布式控制律可实现所有跟随智能体对领航智能体的跟踪，并指出该拓扑结构是系统实现跟踪的一个必要条件．最后，仿真实验验证了所设计控制算法的有效性．

Coordinated tracking for nonlinear multi-agent systems under directed networks

This paper studies a distributed coordinated tracking problem for nonlinear multi-agent systems under a directed topology based on consensus theory.The objective is for a team of followers modeled by nonlinear systems to track a leader under the constrains that only a subset of the followers can receive information of the leader.If the directed graph associated with the leader and the followers contains a directed spanning tree,with the proposed control algorithm,all followers can track the leader asymptoti...