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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

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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]

dc.contributor.authorWang, Xiangke
dc.contributor.authorQin, Jiahu
dc.contributor.authorLi, Xun
dc.contributor.authorZheng, Zhiqiang
dc.coverage.spatialHefei China
dc.date.accessioned2015-12-13T22:19:56Z
dc.date.createdJuly 25-27 2012
dc.identifier.isbn9789881563800
dc.identifier.urihttp://hdl.handle.net/1885/72086
dc.description.abstractThis 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 agents to trace a desired trajectory.
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE Inc)
dc.relation.ispartofseriesChinese Control Conference 2012
dc.sourceChinese Control Conference, CCC
dc.source.urihttps://www.scopus.com/inward/record.url?eid=2-s2.0-84873542877&partnerID=40&md5=e483351d5c136196ab09b8fab779b3ad
dc.subjectKeywords: Formation tracking; ISS; Locally lipschitz; Multi agent system (MAS); Second orders; Graph theory; Multi agent systems; Dynamics formation tracking; ISS; locally Lipschitz continue; Multi-agent system; second-order nonlinear dynamics
dc.titleFormation tracking for nonlinear agents with unknown second-order locally Lipschitz continuous dynamics
dc.typeConference paper
local.description.notesImported from ARIES
local.description.refereedYes
dc.date.issued2012
local.identifier.absfor090602 - Control Systems, Robotics and Automation
local.identifier.ariespublicationf5625xPUB3043
local.type.statusPublished Version
local.contributor.affiliationWang, Xiangke, National University of Defense Technology
local.contributor.affiliationQin, Jiahu, College of Engineering and Computer Science, ANU
local.contributor.affiliationLi, Xun, National University of Defense Technology
local.contributor.affiliationZheng, Zhiqiang, National University of Defense Technology
local.description.embargo2037-12-31
local.bibliographicCitation.startpage6112
local.bibliographicCitation.lastpage6117
local.identifier.absseo970109 - Expanding Knowledge in Engineering
dc.date.updated2016-02-24T09:05:03Z
local.identifier.scopusID2-s2.0-84873542877
CollectionsANU Research Publications

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