Finite-time observers for multi-agent systems without velocity measurements and with input saturations

作     者：Zhang, Bin Jia, Yingmin Matsuno, Fumitoshi 

作者机构：Beihang Univ BUAA Res Div 7 Beijing 100191 Peoples R China Beihang Univ BUAA Dept Syst & Control Beijing 100191 Peoples R China Kyoto Univ Dept Mech Engn & Sci Kyoto 6068501 Japan 

出 版 物：《SYSTEMS & CONTROL LETTERS》 (Syst Control Lett)

年 卷 期：2014年第68卷第1期

页      面：86-94页

核心收录：

学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 08[工学] 0811[工学-控制科学与工程] 

基　　金：National Basic Research Program of China (973 program) [2012CB821200, 2012CB821201] NSFC [61134005, 61221061, 61327807] Grants-in-Aid for Scientific Research Funding Source: KAKEN 

主　　题：Finite-time observers Multi-agent systems Distributed protocols Input saturations 

摘      要：This paper is devoted to the distributed finite-time observers for multi-agent systems, where the control inputs are required to be bounded and the velocities are assumed to be not available for feedback. An effective framework through defining a class of coordinated saturation functions is introduced, under which both a first-order finite-time observer and a high-order finite-time observer are constructed. By applying the homogeneous theory for stability analysis, it is proven that all the states of the followers can converge to that of the leader in finite time under our proposed observers. With mild modifications of our control strategies, the foregoing results are then extended to the distributed finite-time containment control problem, where the states of the followers converge to the convex hull spanned by the multiple dynamic leaders. Numerical simulations are presented to demonstrate the efficiency of our methods. (C) 2014 Elsevier B.V. All rights reserved.