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首页> 外文期刊>IEEE Transactions on Automatic Control >Prescribed Finite-Time Consensus Tracking for Multiagent Systems With Nonholonomic Chained-Form Dynamics
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Prescribed Finite-Time Consensus Tracking for Multiagent Systems With Nonholonomic Chained-Form Dynamics

机译：具有非完整性束形式动态的多层系统规定的有限时间共识跟踪

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摘要

This paper deals with the consensus tracking problem for a multiagent system with nonholonomic chained-form dynamics. A new distributed observer is first proposed for each follower to estimate the leader state and the leader input in a prescribed finite-time under both undirected and directed communication graphs. Then based on the observer and by adding a power integrator, a novel nonlinear protocol is designed such that the estimated leader state is tracked in a prescribed finite-time. Different from some existing finite-time consensus tracking approaches, an explicit bound without dependence on initial states is derived for the settling time. Therefore, in an unknown environment where initial conditions are unavailable, the proposed strategy is able to meet specific system requirements, e.g., a military target is tracked by a group of field robots in a prescribed time. Finally, numerical examples are provided to demonstrate the effectiveness of the proposed protocol.
机译：本文涉及具有非完整性链式动态的多层系统的共识跟踪问题。首先提出新的分布式观察者，为每个跟随者提出以估计在无向和定向的通信图下的规定的有限时间中的领导状态和领导者输入。然后基于观察者并通过添加功率积分器，设计了一种新的非线性协议，使得在规定的有限时间中跟踪估计的领导状态。与一些现有的有限时间共识跟踪方法不同，导出了不依赖初始状态的显式绑定，以用于稳定时间。因此，在初始条件不可用的未知环境中，所提出的策略能够满足特定的系统要求，例如，在规定的时间内由一组现场机器人跟踪军事目标。最后，提供了数值例子以证明所提出的方案的有效性。

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