Tracking control for multi-agent consensus with an active leader and variable topology
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Publication:856539
DOI10.1016/J.AUTOMATICA.2006.02.013zbMATH Open1117.93300arXiv0705.0403OpenAlexW2065632630MaRDI QIDQ856539FDOQ856539
Authors: Yiguang Hong, Jiangping Hu, Linxin Gao 
Publication date: 7 December 2006
Published in: Automatica (Search for Journal in Brave)
Abstract: In this paper, we consider the coordination control of a group of autonomous mobile agents with multiple leaders. Different interconnection topologies are investigated. At first, a necessary and sufficient condition is proved in the case of fixed interconnection topology. Then a sufficient condition is proposed when the interconnection topology is switched. With a simple first-order dynamics model by using the neighborhood rule, both results show that the group behavior of the agents will converge to the polytope formed by the leaders.
Full work available at URL: https://arxiv.org/abs/0705.0403
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Hierarchical systems (93A13) Feedback control (93B52) Control/observation systems governed by ordinary differential equations (93C15) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05)
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