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

  • Authors:

  • Yiguang Hong;Jiangping Hu;Linxin Gao

  • Affiliations:

  • Key Laboratory of Systems and Control, Institute of Systems Science, Chinese Academy of Sciences, Beijing 100080, China;Key Laboratory of Systems and Control, Institute of Systems Science, Chinese Academy of Sciences, Beijing 100080, China;Institute of Systems Science, Wenzhou University, Zhejiang, China

  • Venue:
  • Automatica (Journal of IFAC)
  • Year:
  • 2006

Quantified Score

Hi-index 22.19

Visualization

Abstract

In this paper, we consider a multi-agent consensus problem with an active leader and variable interconnection topology. The state of the considered leader not only keeps changing but also may not be measured. To track such a leader, a neighbor-based local controller together with a neighbor-based state-estimation rule is given for each autonomous agent. Then we prove that, with the proposed control scheme, each agent can follow the leader if the (acceleration) input of the active leader is known, and the tracking error is estimated if the input of the leader is unknown.