{"title":"一类未知非线性多智能体系统的瞬态和稳态性能保证下的领导-随从跟踪","authors":"Ilias Katsoukis, G. Rovithakis","doi":"10.1109/MED.2015.7158892","DOIUrl":null,"url":null,"abstract":"In this paper, we consider the leader-follower synchronization problem for a class of second order nonlinear multi-agent systems with unknown dynamics and environmental disturbances. The proposed scheme utilizes only local relative state information, it is fully distributed and solves the problem with transient and steady state performance guarantees. In fact, the designed controller has build-in the capability of enforcing pre-determined and designer specified performance bounds on the state tracking errors. Despite the high amount of uncertainty, the controller is structurally and computationally simple, avoiding the use of approximating structures i.e., neural networks, fuzzy systems etc. Simulations are also provided to clarify and verify the approach.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":"{\"title\":\"Leader-follower tracking with prescribed transient and steady state performance guarantees for a class of unknown nonlinear multi-agent systems\",\"authors\":\"Ilias Katsoukis, G. Rovithakis\",\"doi\":\"10.1109/MED.2015.7158892\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, we consider the leader-follower synchronization problem for a class of second order nonlinear multi-agent systems with unknown dynamics and environmental disturbances. The proposed scheme utilizes only local relative state information, it is fully distributed and solves the problem with transient and steady state performance guarantees. In fact, the designed controller has build-in the capability of enforcing pre-determined and designer specified performance bounds on the state tracking errors. Despite the high amount of uncertainty, the controller is structurally and computationally simple, avoiding the use of approximating structures i.e., neural networks, fuzzy systems etc. Simulations are also provided to clarify and verify the approach.\",\"PeriodicalId\":316642,\"journal\":{\"name\":\"2015 23rd Mediterranean Conference on Control and Automation (MED)\",\"volume\":\"59 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2015-06-16\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"4\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2015 23rd Mediterranean Conference on Control and Automation (MED)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/MED.2015.7158892\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2015 23rd Mediterranean Conference on Control and Automation (MED)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MED.2015.7158892","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Leader-follower tracking with prescribed transient and steady state performance guarantees for a class of unknown nonlinear multi-agent systems
In this paper, we consider the leader-follower synchronization problem for a class of second order nonlinear multi-agent systems with unknown dynamics and environmental disturbances. The proposed scheme utilizes only local relative state information, it is fully distributed and solves the problem with transient and steady state performance guarantees. In fact, the designed controller has build-in the capability of enforcing pre-determined and designer specified performance bounds on the state tracking errors. Despite the high amount of uncertainty, the controller is structurally and computationally simple, avoiding the use of approximating structures i.e., neural networks, fuzzy systems etc. Simulations are also provided to clarify and verify the approach.