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Leader-following consensus tracking of autonomous unmanned systems with fixed/switching topologies: an event-triggered approach

Author

Listed:
  • Yanzhou Li
  • Yuanqing Wu
  • Shenghuang He
  • Yongkang Lu

Abstract

In this paper, the leader-following consensus tracking of autonomous unmanned systems with fixed/switching topologies is investigated by event-triggered approach. Based on state estimates of each follower and its neighbours, a novel event-triggered strategy that can greatly reduce the communication frequency is proposed. On the basis of M-matrix theory, an event-triggered function is designed by suitably constructing a valid Lyapunov function. The communication likes are established when the event-triggered function is satisfied. Furthermore, suppose that each topology contains a directed spanning tree, it is shown that the consensus tracking of autonomous unmanned systems can be achieved under some conditions and the dwell time is bounded by a positive threshold. Zeno behaviour is proved to be excluded in systems. Two examples are given to demonstrate the validity of the proposed approach.

Suggested Citation

  • Yanzhou Li & Yuanqing Wu & Shenghuang He & Yongkang Lu, 2020. "Leader-following consensus tracking of autonomous unmanned systems with fixed/switching topologies: an event-triggered approach," International Journal of Systems Science, Taylor & Francis Journals, vol. 51(13), pages 2441-2455, October.
    • Handle: RePEc:taf:tsysxx:v:51:y:2020:i:13:p:2441-2455
    DOI: 10.1080/00207721.2020.1797224
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