Distributed finite‐time tracking of second‐order multi‐agent systems: An edge‐based approach
Yu Zhao, Yongfang Liu, Guanghui Wen, Naif D. Alotaibi, Zhongke Shi · IET Control Theory and Applications · 2017
Distributed finite‐time tracking problem of a multi‐agent system with second‐order non‐linear dynamics is studied in this article. Based on measurements of edges, a finite‐time tracking protocol is proposed without relying the complete position and velocity measurements. It means that the proposed protocol only requires a binary information between the neighbouring agent. By designing a carefully constructed Lyapunov function, the distributed finite‐time tracking problem is solved if the sub‐topology among the followers is connected and undirected and the topology of whole systems has a spanning tree with a leader been a root node. Furthermore, it has successfully estimated the finite settling time in theory with the proposed control protocol. The authors provide a numerical example to illustrate the effectiveness of the analytical results.