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Formation tracking for nonlinear agents with unknown second-order locally Lipschitz continuous dynamics

Wang, Xiangke; Qin, Jiahu; Li, Xun; Zheng, Zhiqiang


This paper investigates the formation tracking problem for a group of networked agents with second-order unknown locally Lipschitz continuous nonlinear dynamics. By utilizing the ISS (input-to-state stable) notion and backstepping design method, a distributed control strategy is proposed with the aid of graph theory and the cyclic-small-gain theorem. The proposed strategy can drive the positions of the agents to converge to a desired geometric pattern, as well as the position center of the...[Show more]

CollectionsANU Research Publications
Date published: 2012
Type: Conference paper
Source: Chinese Control Conference, CCC


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