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Connectivity-preserving design strategy for distributed cooperative tracking of uncertain nonaffine nonlinear time-delay multi-agent systems

Authors
Yoo S.J.
Issue Date
Apr-2020
Publisher
Elsevier Inc.
Keywords
Connectivity preservation; Distributed cooperative tracking; Heterogenous communication ranges; Unknown time delays
Citation
Information Sciences, v.514, pp 541 - 556
Pages
16
Journal Title
Information Sciences
Volume
514
Start Page
541
End Page
556
URI
https://scholarworks.bwise.kr/cau/handle/2019.sw.cau/37551
DOI
10.1016/j.ins.2019.11.012
ISSN
0020-0255
1872-6291
Abstract
A distributed connectivity-preserving cooperative tracking problem is addressed for networked nonaffine nonlinear time-delay multi-agent systems with different communication ranges. State delays, nonaffine nonlinearities, and control directions of followers are assumed to be heterogenous and completely unknown. Unlike the literature on the cooperative control of time-delay multiagents, this paper contributes to establish a universal memoryless tracking strategy using nonlinear cooperative errors for preserving the initial connectivity among agents and simultaneously achieving cooperative tracking in the presence of unknown time-varying delays. A distributed approximation-based tracker for each follower is recursively constructed, and its stability is analyzed, without employing potential functions used for the connectivity preservation problem in the literature. Simulation examples are provided to validate the presented approach. © 2019 Elsevier Inc.
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창의ICT공과대학 (전자전기공학부)
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