Distributed Tracking of Leader-Follower Multiagent Systems Subject to Disturbed Leader’s Information

Abstract

This paper considers the distributed tracking problem for leader-follower multiagent systems, where the followers are heterogenous multi-input multi-output systems which are subject to linearly parameterizable nonlinear matching uncertainties, and the leader's information is disturbed during transmission. These two specific considerations make the problem investigated in this paper unsolvable by the existing control approaches. To tackle this problem, a novel distributed control approach is proposed. In particular, in order to recover the true value of the leader's information in the presence of disturbances, an additive observability lemma has been established which facilitates the design of a new kind of filtering distributed observer. Moreover, an invariance-like lemma has been established to analyze the stability of a time-varying perturbed system, which helps to prove the stability of the closed-loop system. A numerical example is presented to validate the effectiveness of the proposed control approach.

Keywords

• Distributed tracking
• filtering distributed observer
• leader-follower multiagent system
• nonlinear matching uncertainty