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.
BhatSPBernsteinDS (1998) Continuous finite-time stabilization of the translational and rotational double integrators. IEEE Transactions on Automatic Control43(5): 678–682.
2.
ChenGLewisFL (2011) Distributed adaptive tracking control for synchronization of unknown networked Lagrangian systems. Systems, Man, and Cybernetics, Part B: IEEE Transactions on Cybernetics41(3): 805–816.
3.
CuiMWuZXieX (2014) Output feedback tracking control of stochastic Lagrangian systems and its application. Automatica50(5): 1424–1433.
4.
DimarogonasDVJohanssonKH (2010) Bounded control of network connectivity in multi-agent systems. IET Control Theory & Applications4(8): 1330–1338.
5.
DongYHuangJ (2014) Leader-following consensus with connectivity preservation of uncertain Euler-Lagrange multi-agent systems. In: IEEE 53rd Conference on Decision and Control, Los Angeles, California, USA, pp. 3011–3016.
6.
DongYHuangJ (2015) Flocking with connectivity preservation of multiple double integrator systems subject to external disturbances by a distributed control law. Automatica55: 197–203.
7.
FengYXuSLewisFLet al. (2015) Consensus of heterogeneous first-and second-order multi-agent systems with directed communication topologies. International Journal of Robust and Nonlinear Control25(3): 362–375.
8.
HongYHuJGaoL (2006) Tracking control for multi-agent consensus with an active leader and variable topology. Automatica42(7): 1177–1182.
9.
HuQXiaoBShiP (2015) Tracking control of uncertain Euler–Lagrange systems with finite-time convergence. International Journal of Robust and Nonlinear Control25(17): 3299–3315.
10.
LiSSunHYangJet al. (2015) Continuous finite-time output regulation for disturbed systems under mismatching condition. IEEE Transactions on Automatic Control60(1): 277–282.
11.
MaQLewisFLXuS (2015) Cooperative containment of discrete-time linear multi-agent systems. International Journal of Robust and Nonlinear Control25(7): 1007–1018.
12.
MaQLuJXuH (2014) Consensus for nonlinear multi-agent systems with sampled data. Transactions of the Institute of Measurement and Control36(5): 618–626.
13.
Olfati-SaberR (2006) Flocking for multi-agent dynamic systems: Algorithms and theory. IEEE Transactions on Automatic Control51(3): 401–420.
14.
Olfati-SaberRMurrayRM (2004) Consensus problems in networks of agents with switching topology and time-delays. IEEE Transactions on Automatic Control49(9): 1520–1533.
15.
PengZWangDLanWet al. (2010) Filtering robust adaptive formation guidance law with uncertain leader dynamics. In: International Conference on Intelligent Control and Information Processing, Dalian, China, pp. 143–148.
16.
QianCLinW (2001) A continuous feedback approach to global strong stabilization of nonlinear systems. IEEE Transactions on Automatic Control46(7): 1061–1079.
17.
RenW (2008). On consensus algorithms for double-integrator dynamics. IEEE Transactions on Automatic Control58(6): 1503–1509.
SuY (2015) Leader-following rendezvous with connectivity preservation and disturbance rejection via internal model approach. Automatica57: 203–212.
20.
SuYHuangJ (2013) Cooperative adaptive output regulation for a class of nonlinear uncertain multi-agent systems with unknown leader. Systems & Control Letters62(6): 461–467.
21.
TangY (2014) Leader-following coordination problem with an uncertain leader in a multi-agent system. IET Control Theory & Applications8(10): 773–781.
22.
WangXHongYJiH (2014) Adaptive multi-agent containment control with multiple parametric uncertain leaders. Automatica50(9): 2366–2372.
23.
ZhangYCuiGZhuangGet al. (2016) Command filtered backstepping tracking control of uncertain nonlinear strict-feedback systems under a directed graph. Transactions of the Institute of Measurement and Control. Epub ahead of print 22 February 2016. DOI: 0142331216629198.
24.
ZhaoYDuanZWenG (2015) Distributed finite-time tracking of multiple Euler-Lagrange systems without velocity measurements. International Journal of Robust and Nonlinear Control25(11): 1688–1703.
