Abstract
This chapter explores the stability of a class of multiagent systems with proposed relay tracking strategy over a finite time interval. Agents are deployed in an area to monitor and track the intruded targets. According to proposed relay-tracking strategy, the tracking agents and their communication topologies switch during the whole tracking process. This results in impulsive effects on the overall tracking errors. The relationship of finite time interval against desired overall tracking errors and control parameter is derived quantitatively for the multiagent relay tracking system. Then, stability conditions for the system with disturbances and impulsive effects are obtained. Moreover, finite time coordination strategies of second-order multiagent relay tracking systems are presented in this chapter. Modified nonsingular terminal sliding mode (NTSM) controller is designed for tracking agents. With modified NTSM control method, it is able to estimate the finite tracking time. Based on this, generalized Voronoi diagram considering the velocity of second-order agents and targets is presented. The event that the target enters a new generalized Voronoi cell triggers active replacement. Comparison lemma is utilized to deal with the agent switching issue caused by node failures or active replacements.
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