Abstract
This paper considers the finite-time consensus tracking problem in directed networks of second-order multi-agent systems. Based on auxiliary system approach, a distributed control protocol is proposed for each follower, which only relies on the relative position measurements among the neighboring agents. Then, using homogeneous theory, sufficient conditions are derived to ensure that the states of the followers can track that of the leader in finite time under fixed topology. Moreover, the case under switching topology is also studied. Finally, numerical simulations are given to illustrate our theoretical results.
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Acknowledgments
The work was supported by the National 973 Program (Grant No. 2012CB821200 and 2012CB821201), the National Natural Science Foundation of China (Grant No. 61134005, 61221061 and 61327807), and the Fundamental Research Funds for the Central Universities 2016MS129.
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Wang, P., Jia, Y. (2016). Finite-Time Consensus Tracking for Second-Order Multi-agent Systems Without Relative Velocity Measurements. In: Jia, Y., Du, J., Zhang, W., Li, H. (eds) Proceedings of 2016 Chinese Intelligent Systems Conference. CISC 2016. Lecture Notes in Electrical Engineering, vol 404. Springer, Singapore. https://doi.org/10.1007/978-981-10-2338-5_5
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DOI: https://doi.org/10.1007/978-981-10-2338-5_5
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