Abstract:

The finite time coordinated tracking problem is studied for multi-agent networks with inherent nonlinear dynamics under the condition that each agent has limited sensing range. Based on state information between agents, the distributed nonsmooth control protocol is designed that is capable of preserving topological connection assuming that nonlinear dynamics are satisfied with Lipschitz condition and initial network topology is undirectly connected. Sufficient conditions are developed to achieve finite time tracking by applying nonsmooth stability analysis methods, that is finite time tracking with topological connection can be achieved with suitable control gain. Simulation results verify the effectiveness and correctness of the proposed control scheme.

Key words: nonlinear network, finite-time tracking, nonsmooth stability analysis, topological connectedness preserved