Observer-based distributed leader-follower tracking control: a new perspective and results
Observer-based distributed leader-follower tracking control: a new perspective and results
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DOI：
10.1080/00207179.2019.1580770
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发表时间：
2019-02
影响因子：
2.1
通讯作者：
Chuan Yan;H. Fang
中科院分区：
文献类型：
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作者：
Chuan Yan;H. Fang
摘要 主从跟踪控制设计由于其重要和广泛的应用近年来受到了广泛的关注。考虑到由领导者和多个追随者组成的多智能体系统，本文提出并研究了这个问题的新视角：我们能否使追随者能够估计领导者的驱动输入并利用这一想法来开发新的基于观察者的跟踪控制方法？出于这种动机，我们开发了一个基于输入观察者的领导者-跟随者跟踪控制框架，该框架具有分布式输入观察者，允许跟随者在本地估计领导者的输入以增强跟踪控制。这项工作首先研究一阶跟踪问题。然后，它扩展到更复杂的二阶跟踪情况，并考虑在未测量领导者和追随者速度时的挑战性情况。通过与文献的比较揭示了所提出的方法表现出有趣且有用的优势。严格分析了所提出方法的收敛特性。模拟结果进一步说明了所提出的观点、框架和方法的有效性。
ABSTRACT Leader-follower tracking control design has received significant attention in recent years due to its important and wide applications. Considering a multi-agent system composed of a leader and multiple followers, this paper proposes and investigates a new perspective into this problem: can we enable a follower to estimate the leader's driving input and leverage this idea to develop new observer-based tracking control approaches? With this motivation, we develop an input-observer-based leader-follower tracking control framework, which features distributed input observers that allow a follower to locally estimate the leader's input toward enhancing tracking control. This work first studies the first-order tracking problem. It then extends to the more sophisticated case of second-order tracking and considers a challenging situation when the leader's and followers' velocities are not measured. The proposed approaches exhibit interesting and useful advantages as revealed by a comparison with the literature. Convergence properties of the proposed approaches are rigorously analyzed. Simulation results further illustrate the efficacy of the proposed perspective, framework and approaches.