Robust Distributed Average Tracking for Disturbed Second-Order Multiagent Systems

doi:10.1109/TSMC.2021.3064152

Return

Robust Distributed Average Tracking for Disturbed Second-Order Multiagent Systems

2022-05-01

PRE

Huifen Hong

Guanghui Wen (Guanghui Wen)

Xinghuo Yu

Wenwu Yu *

DOI：10.1109/TSMC.2021.3064152

Original

Original request for help

Save

Abstract

En 中文

This article investigates the distributed average tracking (DAT) problem for disturbed second-order multiagent systems, where a crowd of agents is required to track the average of the multiple time-varying signals. First, a new kind of distributed average estimator is developed for each agent to estimate the average of the multiple time-varying signals in finite time. The protocol possesses the distinguished feature of robustness to initialization errors, which can recover from network alterations. Then, an observer-based finite-time tracking protocol is proposed to make each agent exactly track the average of the multiple time-varying signals in finite time in the absence of velocity measurement. By carefully analyzing the dynamic properties of the tracking error system, a suitable Lyapunov function is constructed to estimate the settling time for convergence of the tracking error system theoretically. Furthermore, an adaptive DAT protocol is proposed, which is a fully distributed protocol because it can solve the DAT problem without using any global information. Finally, two simulation examples are provided to verify the effectiveness of the methods.

Keywords:

Protocols

Velocity measurement

Multi-agent systems

Convergence

Steady-state

Lyapunov methods

Telecommunications

Adaptive control

distributed average tracking (DAT)

finite-time estimator

robustness

second-order multiagent systems

AI Summary

Key information extracted from the uploaded paper, including a brief overview, abstract, background, key highlights, visual analysis, and future outlook.