Coordinated orbit-tracking control of second-order non-linear agents with directed communication topologies

Y.-Y. Chen, Y. Zhang, C.-L. Liu and P. Wei

International Journal of Systems Science, 2016, vol. 47, issue 16, 3929-3939

Abstract: This paper deals with two-dimensional and three-dimensional cooperative control of multiple agents formation tracking a set of given closed orbits, where each agent has intrinsic second-order non-linear dynamics and the communication topology among agents is directed. By using our previous curve extension method, the cooperative control system can be regarded as a cascade system composed of the orbit-tracking subsystem and the formation subsystem with the orbit-tracking error as input. A novel solution is established by separatively designing the orbit-tracking control law and the formation control protocol ignoring the perturbation at first and then applying input-to-state stability theory to analyse the asymptotic stability of the cascade system. It is shown that the closed-loop system is asymptotic stability if the directed communication topology contains a directed spanning tree. The effectiveness of the analytical results is verified by numerical simulations.

Date: 2016
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DOI: 10.1080/00207721.2016.1139759

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