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Leader–Follower Tracking in Nonlinear Multi-agent Systems via Different Velocity and Position Graph Topologies with External Disturbance

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Iranian Journal of Science and Technology, Transactions of Electrical Engineering Aims and scope Submit manuscript

Abstract

This paper proposes a novel distributed control algorithm for leader–follower tracking in nonlinear multi-agent systems via different velocity and position undirected graph topologies with external disturbance. Assuming that the disturbance is produced by linear exogenous systems, a disturbance observer without the position information based only on the velocity information of the agents is proposed. Next, graph theory, the Lyapunov approach and LaSalle’s principle are used to design a distributed control protocol for leader–follower tracking of MASs under different position and velocity undirected graphs with external disturbance. Finally, numerical simulations illustrate the efficacy of the proposed algorithms.

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Data Availability

The data used to support the findings of this study are available from the corresponding author upon request.

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Authors and Affiliations

  1. Department of Electrical Engineering, Shiraz University of Technology, Modarres Blvd, Shiraz, 715555-313, Iran

    Seyyed Vahid Ghasemzadeh & Behrouz Safarinejadian

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  1. Seyyed Vahid Ghasemzadeh
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  2. Behrouz Safarinejadian
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Correspondence to Behrouz Safarinejadian.

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Ghasemzadeh, S.V., Safarinejadian, B. Leader–Follower Tracking in Nonlinear Multi-agent Systems via Different Velocity and Position Graph Topologies with External Disturbance. Iran J Sci Technol Trans Electr Eng 47, 1525–1536 (2023). https://doi.org/10.1007/s40998-023-00632-7

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