Cooperative Tracking Control of Multi-Agent Systems with General Linear Dynamics
Luka Martinović, Žarko Zečević, Božo Krstajić · 2021
The cooperative tracking control of multi-agent systems with identical, general linear dynamics is investigated. Based on the availability of information about the state of an autonomous exogenous system, the agents are divided into leaders and followers. The distributed protocol is devised such that through combination of absolute and relative measurements, the followers achieve zero tracking error. The role of the leaders is to inject the proper control input into the followers' network. For achieving stability, a simple rule for choosing the feedback gain is provided. A numerical example with simulations is given to demonstrate the effectiveness of the proposed solution.