Distributed RISE-Based Control for Exponential Heterogeneous Multi-Agent Target Tracking of Second-Order Nonlinear Systems

This work presents a decentralized Robust Integral of the Sign of the Error (RISE) controller for multi-agent target tracking with exponential convergence. Previous RISE-based multi-agent approaches required 2-hop communication, limiting practical applicability. New insights from a Lyapunov-based design-analysis approach eliminate this multi-hop requirement while yielding exponential tracking. These insights include a novel P-function developed in tandem with the inclusion of the interaction matrix in the Lyapunov function. Nonsmooth Lyapunov stability analysis yields semi-global exponential convergence to the target agent state despite bounded disturbances. The resulting controller achieves exponential target tracking with only local information exchange between neighboring agents.