Tracking control for multi-agent consensus with an active leader and variable topology

DOI10.1016/J.AUTOMATICA.2006.02.013MaRDI QIDQ856539zbMATH OpenOpenAlexFDO

Authors Yiguang Hong, Jiangping Hu, Linxin Gao

Publication date 7 December 2006

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/0705.0403

zbMATH Keywords

active leaderconsensusmulti-agent systemsstate estimation

Mathematics Subject Classification ID

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)

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.

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Cited in

(only showing first 100 items - show all)

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