Connectivity and Set Tracking of Multi-Agent Systems Guided by Multiple Moving Leaders
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Publication:5352738
DOI10.1109/TAC.2011.2164733zbMATH Open1369.93048DBLPjournals/tac/ShiHJ12arXiv1112.1335OpenAlexW2104040866WikidataQ60432216 ScholiaQ60432216MaRDI QIDQ5352738FDOQ5352738
Authors: Yiguang Hong, Karl Henrik Johansson, Guodong Shi 
Publication date: 8 September 2017
Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)
Abstract: In this paper, we investigate distributed multi-agent tracking of a convex set specified by multiple moving leaders with unmeasurable velocities. Various jointly-connected interaction topologies of the follower agents with uncertainties are considered in the study of set tracking. Based on the connectivity of the time-varying multi-agent system, necessary and sufficient conditions are obtained for set input-to-state stability and set integral input-to-state stability for a nonlinear neighbor-based coordination rule with switching directed topologies. Conditions for asymptotic set tracking are also proposed with respect to the polytope spanned by the leaders.
Full work available at URL: https://arxiv.org/abs/1112.1335
Detection theory in information and communication theory (94A13) Hierarchical systems (93A13) Decentralized systems (93A14) Input-output approaches in control theory (93D25)
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- Distributed adaptive event‐triggered protocols for directed multi‐agent networks with a dynamic leader of nonzero input
- Robustness and Invariance of Connectivity Maintenance Control for Multiagent Systems
- Containment control of systems with constraints and bounded disturbances
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