Title :
Distributed control for second-order leader-following multi-agent systems with heterogeneous leader
Author :
Hongjing Liang ; Yingchun Wang ; Zhanshan Wang ; Huaguang Zhang
Author_Institution :
Sch. of Inf. Sci. & Eng., Northeastern Univ., Shenyang, China
Abstract :
In this paper, distributed control for second-order leader-following multi-agent systems has been solved. All the outputs of the agents reach a common trajectory. The dynamic of the leader agent is different with the follower agents. If the digraph contains a spanning tree, then the problem is solved using an appropriate control law. A compensator is designed to making the closed-loop system matrix stable. Simulation results are further presented to show the effectiveness and performance of our work.
Keywords :
closed loop systems; directed graphs; matrix algebra; mobile robots; multi-agent systems; multi-robot systems; trajectory control; closed-loop system matrix; digraph; distributed control; heterogeneous leader; second-order leader-following multiagent system; spanning tree; Educational institutions; Lead; Multi-agent systems; Synchronization; Topology; Trajectory; Vehicle dynamics;
Conference_Titel :
Neural Networks (IJCNN), 2014 International Joint Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4799-6627-1
DOI :
10.1109/IJCNN.2014.6889616
