Distributed observers for tracking a moving target by cooperative multiple agents with time delays
Distributed observers for tracking a moving target by cooperative multiple agents with time delays
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发表时间：
2009-11
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通讯作者：
Xiaoli Wang;Yiguang Hong
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作者：
Xiaoli Wang;Yiguang Hong
研究了具有切换互连拓扑和通信延迟的协作多智能体的领导-跟随问题。分布式观测器被设计为二阶跟随智能体跟踪运动目标（视为主动领导者）与不可测的速度和未知的常数输入。动态邻居为基础的规则，由分布式控制器和观察员的自治代理，不断更新的领导者的信息。借助显式构造的公共李雅普诺夫函数（CLF），证明了每个智能体都能跟踪主动领导者。此外，在噪声环境下的跟踪误差估计和输入状态稳定性（ISS）的时滞系统获得。
This paper is concerned with a leader-follower problem of cooperative multiple agents with a switching interconnection topology and communication delay. Distributed observers are designed for the second-order follower-agents to track a moving target (regarded as an active leader) with unmeasurable velocity and unknown constant input. Dynamic neighbor-based rules, consisting of distributed controllers and observers for the autonomous agents, are developed to keep updating the information of the leader. With the help of an explicitly constructed common Lyapunov function (CLF), it is proved that each agent can track the active leader. Moreover, the tracking error is estimated in a noisy environment and input-to-state stability (ISS) is obtained for the time-delay system.