Multi‐Tracking of First Order Multi‐Agent Networks Via Self‐Triggered Control
Guang‐Song Han, Zhi‐Hong Guan, Jie Chen, Dingxin He, Ming Chi · Asian Journal of Control · 2014
Abstract A multi‐tracking problem of multi‐agent networks is investigated in this paper where multi‐tracking refers to that the states of multiple agents in each subnetwork asymptotically converge to the same desired trajectory in the presence of information exchanges among subnetworks. The multi‐tracking of first order multi‐agent networks with directed topologies was studied. Self‐triggered protocols were proposed along with triggering functions to solve the stationary multi‐tracking and bounded dynamic multi‐tracking. The self‐triggered scheduling is obtained, and the system does not exhibit Zeno behavior. Numerical examples are provided to illustrate the effectiveness of the obtained criteria.