Finite-time Tracking Control Of Nonlinear Multi-agent Networks

In recent years, the coordination and control of multi-agent network has be concerned by many researchers. In this paper, the finite-time tracking control method for multi-agent networks with inherent nonlinear dynamics is deeply studied.At first, finite-time average consensus tracking control of nonlinear multi-agent networks with is studied. A distributed continuous non-smooth algorithm is proposed to guarantee finite-time consensus assuming that nonlinear dynamics are satisfied with Lipschitz condition.Based on the generalized comparison lemma, it is obtained that the finite-time average consensus tracking control of nonlinear multi-agent networks can be achieved by selecting the appropriate control gain and keeping switching topology connected. The proposed control scheme is verified to be effective and feasible by simulation.Secondly,finite-time coordinated tracking control problem is studied for nonlinear multi-agent networks under the condition that each agent has limited sensing range. Based on state information between agents, the distributed discontinuous non-smooth algorithm that is capable of preserving topological connectedness is designed assuming that nonlinear dynamics are satisfied with Lipschitz condition and initial network topology is undirected connected. Sufficient conditions are developed to achieve finite-time tracking by applying nonsmooth stability analysis methods, that is finite-time tracking with topological connectedness preserved can be achieved with suitable control gain. The proposed control scheme is verified to be effective and feasible by simulation.Finally,the problem of finite-time coordinated tracking control for second-order multi-agent systems with nonlinear is studied under an undirected fixed interaction graph.Assuming that nonlinear dynamics are satisfied with Lipschitz condition,a distributed continuous non-smooth algorithm is proposed and then sufficient conditions is presented such that finite-time consensus can be achieved. Then to address the lack of velocity measurement,a finite-time state estimator based on the position state information is constructed to estimate the unknown velocity information in a finite time and a finite-time feedback control algorithm is designed to realize finite-time tracking control. The proposed control scheme is verified to be effective and feasible by simulation.