{"title":"Finite-time leader-following tracking by using distributed binary measurements","authors":"Yu Zhao, Yongfang Liu, G. Wen","doi":"10.1109/ICARCV.2016.7838726","DOIUrl":null,"url":null,"abstract":"This paper studies the finite-time leader-following tracking problems for a group of autonomous agents modeled by second-order nonlinear dynamics under a dynamic reference leader. First, based on distributed binary measurements, a class of finite-time leader-following tracking algorithms are only requiring a single-bit quantization error relative to each neighbor. Then, by using a topology-dependent Lyapunov function, the finite-time distributed tracking problem can be solved with a finite settling time estimation if the graph of all agents contains a directed spanning tree with the leader as the root and the subgraph among the followers is undirected. Finally, an example is shown to illustrate the effectiveness of the analytical results.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICARCV.2016.7838726","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
This paper studies the finite-time leader-following tracking problems for a group of autonomous agents modeled by second-order nonlinear dynamics under a dynamic reference leader. First, based on distributed binary measurements, a class of finite-time leader-following tracking algorithms are only requiring a single-bit quantization error relative to each neighbor. Then, by using a topology-dependent Lyapunov function, the finite-time distributed tracking problem can be solved with a finite settling time estimation if the graph of all agents contains a directed spanning tree with the leader as the root and the subgraph among the followers is undirected. Finally, an example is shown to illustrate the effectiveness of the analytical results.