Consensus tracking for second-order nonlinear multi-agent systems with switching topologies and a time-varying reference state |
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Authors: | Guoguang Wen Yongguang Yu Ahmed Rahmani |
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Affiliation: | 1. Department of Mathematics, Beijing Jiaotong University, Beijing, P.R.China;2. CRIStAL, UMR CNRS 9189, Ecole Centrale de Lille, Villeneuve d’Ascq, France |
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Abstract: | In this study, the authors consider the consensus tracking problem for second-order nonlinear multi-agent systems with switching topologies and a time-varying reference state. The dynamics of each agent consists of nonlinear inherent dynamics. In order to reach consensus tracking, a class of nonsmooth control protocols is proposed which only depends on the agent's own information and its neighbours’ information. With the aid of algebraic graph theory, matrix theory, and Lyapunov theory, some corresponding sufficient conditions guaranteeing consensus tracking under the proposed control protocols are derived. Finally, the numerical simulations are given to illustrate the effectiveness of the developed theoretical results. |
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Keywords: | Consensus tracking multi-agent systems nonlinear dynamics time-varying reference states switching topologies |
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