We investigate the tracking control for a class of nonlinear heterogeneous leader-follower multi-agent systems（MAS）with unknown external disturbances. Firstly, the neighbor-based distributed finite-time observers ar...We investigate the tracking control for a class of nonlinear heterogeneous leader-follower multi-agent systems（MAS）with unknown external disturbances. Firstly, the neighbor-based distributed finite-time observers are proposed for the followers to estimate the position and velocity of the leader. Then, two novel distributed adaptive control laws are designed by means of linear sliding mode（LSM） as well as nonsingular terminal sliding mode（NTSM）, respectively. One can prove that the tracking consensus can be achieved asymptotically under LSM and the tracking error can converge to a quite small neighborhood of the origin in finite time by NTSM in spite of uncertainties and disturbances. Finally, a simulation example is given to verify the effectiveness of the obtained theoretical results.展开更多
基金Project supported by the National Natural Science Foundation of China(Grant No.61203142)the Natural Science Foundation of Hebei Province,China(Grant Nos.F2014202206 and F2017202009)
文摘We investigate the tracking control for a class of nonlinear heterogeneous leader-follower multi-agent systems（MAS）with unknown external disturbances. Firstly, the neighbor-based distributed finite-time observers are proposed for the followers to estimate the position and velocity of the leader. Then, two novel distributed adaptive control laws are designed by means of linear sliding mode（LSM） as well as nonsingular terminal sliding mode（NTSM）, respectively. One can prove that the tracking consensus can be achieved asymptotically under LSM and the tracking error can converge to a quite small neighborhood of the origin in finite time by NTSM in spite of uncertainties and disturbances. Finally, a simulation example is given to verify the effectiveness of the obtained theoretical results.
