期刊
AUTOMATICA
卷 45, 期 5, 页码 1299-1305出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2009.01.018
关键词
Coordinated tracking; Discrete-time consensus; Cooperative control; Multi-agent systems
资金
- National Science Foundation [CNS-0834691]
- Direct For Computer & Info Scie & Enginr
- Division Of Computer and Network Systems [1221384] Funding Source: National Science Foundation
- Division Of Computer and Network Systems
- Direct For Computer & Info Scie & Enginr [0834691] Funding Source: National Science Foundation
This paper studies a distributed discrete-time coordinated tracking problem where a team of vehicles communicating with their local neighbors at discrete-time instants tracks a time-varying reference state available to only a subset of the team members. We propose a PD-like discrete-time consensus algorithm to address the problem under a fixed communication graph. We then study the condition on the communication graph, the sampling period, and the control gain to ensure stability and give the quantitative bound of the tracking errors. It is shown that the ultimate bound of the tracking errors is proportional to the sampling period. The benefit of the proposed PD-like discrete-time consensus algorithm is also demonstrated through comparison with an existing P-like discrete-time consensus algorithm. Simulation results are presented as a proof of concept. (C) 2009 Elsevier Ltd. All rights reserved.
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