Multi-agent coordination with switching interaction structures and heterogeneous agents

Author

Guodong, Shi ; Yiguang, Hong

Author_Institution

Key Lab. of Syst. & Control, Chinese Acad. of Sci., Beijing

fYear

2008

fDate

16-18 July 2008

Firstpage

531

Lastpage

535

Abstract

In this paper, we consider the coordination control of a group of heterogeneous autonomous agents with two kinds of agents: leaders (informed agents) and followers. The stability of whole agent group guided by these leaders to a desired convex region is mainly investigated though the interconnection topology keeps switching. Sufficient conditions on the multi-agent coordination are proposed with help of graph theory and non-smooth analysis. With first-order individual dynamics model using the neighborhood rule, the group of the agents will flock to the target set or reach a state agreement.

Keywords

graph theory; multi-robot systems; stability; time-varying systems; convex region; coordination control; coordination stability; first-order individual dynamics model; graph theory; heterogeneous autonomous agents; informed agents; interconnection topology; leader-follower system; multiagent coordination; neighborhood rule; nonsmooth analysis; switching interaction structure; Autonomous agents; Control systems; Graph theory; Laboratories; Mobile agents; Multiagent systems; Network topology; Sensor systems and applications; Stability analysis; Sufficient conditions; Coordination stability; Multi-agent systems; Non-smooth analysis; Switching topology;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference, 2008. CCC 2008. 27th Chinese

Conference_Location

Kunming

Print_ISBN

978-7-900719-70-6

Electronic_ISBN

978-7-900719-70-6

Type

conf

DOI

10.1109/CHICC.2008.4605540

Filename

4605540