Nonsmooth analysis and control theory
Nonsmooth analysis and control theory
State Agreement for Continuous-Time Coupled Nonlinear Systems
SIAM Journal on Control and Optimization
Finite-time convergent gradient flows with applications to network consensus
Automatica (Journal of IFAC)
Stability analysis of social foraging swarms
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Tracking control for multi-agent consensus with an active leader and variable topology
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Decentralized control of multi-agent systems for swarming with a given geometric pattern
Computers & Mathematics with Applications
Automatica (Journal of IFAC)
Scaling the size of a formation using relative position feedback
Automatica (Journal of IFAC)
Randomized optimal consensus of multi-agent systems
Automatica (Journal of IFAC)
Distributed formation control of nonholonomic mobile robots without global position measurements
Automatica (Journal of IFAC)
Global consensus for discrete-time multi-agent systems with input saturation constraints
Automatica (Journal of IFAC)
Hi-index | 22.16 |
In this paper, we discuss coordination problems of a group of autonomous agents, including the target aggregation to a convex set and the state agreement. The aggregation of the whole agent group, consisting of leaders (informed agents) and followers, to a given set is investigated with switching interconnection topologies described by the connectivity assumptions on the joint topology in the time interval [t,+~) for any time t, and then the state agreement problem is studied in a similar way. An approach based on set stability and limit set analysis is given to study the multi-agent convergence problems. With the help of graph theory and convex analysis, coordination conditions are obtained in some important cases, and the results show that simple local rules can make the networked agents with first-order nonlinear individual dynamics achieve desired collective behaviors.