Distributed Tracking Control for Discrete-Time Multiagent Systems with Novel Markovian Switching Topologies

摘要

Distributed discrete-time coordinated tracking control problem is investigated formultiagent systems in the ideal case,where agents with a fixed graph combine with a leader-following group, aiming to expand the function of the traditional one in some scenes.The modified union switching topology is derived from a set of Markov chains to the edges by introducing a novel mapping.The issue on how to guarantee all the agents tracking the leader is solved through a PD-like consensus algorithm. The available sampling period and the feasible control gain are calculated in terms of the trigonometric function theory, and the mean-square bound of tracking errors is provided finally. Simulation example is presented to demonstrate the validity of the theoretical results.