The cooperative tracking problem of general network systems with fixed/switching topology having a directed spanning tree is investigated in this paper. A distributed sampled-data controller is preferentially designed for each follower to track the independent leader. By using tools from input-delay and a reciprocally convex approach, some sufficient conditions ensuring the purpose of tracking are derived. Theoretical analysis is then extended to the case that the topologies of network systems are time-varying. It is demonstrated that the cooperative tracking problem for network systems can be solved under some sufficient conditions. Through the above investigation, the cooperative tracking problem of general network systems with fixed/switching topology is solved. The capabilities of the proposed control algorithm are finally verified on our experimental platform.

中文翻译：

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具有固定/交换拓扑结构的通用网络系统协同跟踪控制的互凸方法

本文研究了具有有向生成树的具有固定/交换拓扑结构的通用网络系统的协作跟踪问题。优先为每个跟随者设计分布式采样数据控制器来跟踪独立的领导者。通过使用来自输入延迟和互逆凸方法的工具，推导出一些确保跟踪目的的充分条件。然后将理论分析扩展到网络系统拓扑随时间变化的情况。证明了网络系统的协同跟踪问题在一定的充分条件下是可以解决的。通过以上研究，解决了具有固定/交换拓扑结构的一般网络系统的协同跟踪问题。