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Robust output tracking for heterogeneous double-integrator dynamics with external disturbance

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  • Yanhua Qu
  • Anna Wang
  • Sheng Lin

Abstract

This paper studies the robust output tracking for heterogeneous double-integrator dynamics with external disturbance. It is assumed that there exist interactions among agents and their neighbours. All the agents have non-identical dynamics with others, and all the system matrices are unknown. A state feedback control protocol with only neighbours information is proposed based on a distributed compensator for non-identical dynamics and an internal-model compensator for the unknown parts. By the algebraic graph theory and matrix theory, sufficient conditions are given to guarantee that all the outputs of the agents converge to the reference output as time tends to infinity. Finally, two numerical simulations are provided to illustrate the effectiveness of the theoretical results.

Suggested Citation

  • Yanhua Qu & Anna Wang & Sheng Lin, 2018. "Robust output tracking for heterogeneous double-integrator dynamics with external disturbance," International Journal of Systems Science, Taylor & Francis Journals, vol. 49(7), pages 1435-1444, May.
    • Handle: RePEc:taf:tsysxx:v:49:y:2018:i:7:p:1435-1444
    DOI: 10.1080/00207721.2018.1454535
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