Trajectory tracking and formation control based on consensus in networked multi-agent systems

Author

Su Saijun ; Nian Xiaohong ; Pan Huan

Author_Institution

Sch. of Inf. Sci. & Eng., Central South Univ., Changsha, China

fYear

2010

fDate

29-31 July 2010

Firstpage

4465

Lastpage

4470

Abstract

This paper discusses consensus problems for multi-input networked multi-agent systems with fixed topology. The digraph represents the topology of a networked system, and then both the stability and consensus convergence problems of multi-agent systems are all analyzed. A new consensus protocol is proposed and can be solved based on the method of bilinear matrix inequality (BMI). Furthermore, trajectory tracking and formation control for multi-agent systems are investigated. Finally, numerical simulations are provided to show the effectiveness of our strategies.

Keywords

convergence of numerical methods; directed graphs; linear matrix inequalities; multi-agent systems; position control; stability; tracking; bilinear matrix inequality; consensus convergence problems; consensus protocol; digraph; fixed topology; formation control; multi-input networked multi-agent systems; trajectory tracking; Multiagent systems; Network topology; Protocols; Target tracking; Topology; Trajectory; Consensus Protocol; Fixed Topology; Formation Control.; Multi-Agent Systems; Trajectory Tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2010 29th Chinese

Conference_Location

Beijing

Print_ISBN

978-1-4244-6263-6

Type

conf

Filename

5572121