Cooperative tracking control of single-integrator multi-agent systems with multiple leaders

摘要

In this paper, the cooperative tracking control of single-integrator multi-agent systems is investigated. The networked agents are partitioned into two groups, leaders and followers. Only the former have access to the state of an autonomous exogenous system and their role is to inject the control inputs into the network such that the followers track the predefined setpoint trajectories. The followers are controlled through local interaction rules based on the relative measurements from their neighbors. A novel distributed observer-based control strategy that solves the tracking control problem is proposed. Simple rules are provided for determining the controller and observer parameters which guarantee that the closed-loop system poles lie in the specified region. The effectiveness of the proposed approach is verified through numerical examples.(c) 2021 European Control Association. Published by Elsevier Ltd. All rights reserved.