Leader-following consensus with connectivity preservation of uncertain Euler-lagrange multi-agent systems

2014 ◽  
Author(s):  
Yi Dong ◽  
Jie Huang
Keyword(s):  
Multi Agent Systems ◽  
Agent Systems ◽  
Leader Following ◽  
Connectivity Preservation ◽  
Multi Agent

Finite-time leader-following rendezvous for Euler–Lagrange multi-agent systems with an uncertain leader

2017 ◽  
Vol 40 (6) ◽  
pp. 1766-1775 ◽  
Author(s):  
Ping Li ◽  
Shengyuan Xu ◽  
Yuming Chu ◽  
Weimin Chen ◽  
Zhengqiang Zhang
Keyword(s):  
Finite Time ◽  
Disturbance Observer ◽  
Multi Agent Systems ◽  
External Disturbances ◽  
Agent Systems ◽  
Leader Following ◽  
Connectivity Preservation ◽  
Multi Agent ◽  
Power Integrator ◽  
Theoretical Results

This paper considers the problem of finite-time leader-following rendezvous with connectivity preservation for a class of Euler–Lagrange multi-agent systems with a dynamic leader subject to uncertain external disturbances. By designing a finite-time disturbance observer and using the technique based on the addition of a power integrator, a composite controller is proposed to guarantee leader-following rendezvous in finite time. Moreover, an appropriate Lyapunov potential function is proposed to ensure connectivity preservation. A numerical example is provided to illustrate the effectiveness of the theoretical results.

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