Multi‐tracking control of heterogeneous multi‐agent systems with single‐input– single‐output based on complex frequency domain analysis

Abstract

This paper studies the multi-tracking control for high-order heterogeneous multi-agent systems under a directed acyclic graph. The authors first convert the multi-tracking control problem for multi-agent systems into the zero steady-state error control problem of some independent subsystems. Based on final-value theorem and Mason's rule, a sufficient condition for achieving the multi-tracking control is proposed. It explicitly reveals how the system dynamic and desired object dynamic jointly affect the multi-tracking control of heterogeneous multi-agent systems. Meanwhile, a new result on the steady-state error for multi-subnetworks is established. Moreover, the multi-tracking control for heterogeneous multi-agent systems with time delay is discussed. Some simulations are performed to illustrate the effectiveness of the theoretical results.