Title :
Set tracking of multi-agent systems with variable topologies guided by moving multiple leaders
Author :
Shi, Guodong ; Hong, Yiguang
Author_Institution :
Key Lab. of Syst. & Control, Chinese Acad. of Sci., Beijing, China
Abstract :
In this paper, we consider the distributed control of a group of autonomous agents to track the convex hull specified by multiple moving leaders maybe with unmeasurable velocities. Directed interconnection topologies of the follower agents are investigated for the set input-to-state stability (SISS) and set integral input-to-state stability (SiISS), and connectivity-based necessary and sufficient conditions are obtained. Then the tracking errors can be estimated between the agents with nonlinear neighbor-based coordination rules and the polytope spanned by the leaders with the help of SISS and SiISS.
Keywords :
graph theory; multi-agent systems; network theory (graphs); set theory; stability; autonomous agent; convex hull; directed interconnection topology; distributed control; integral input-to-state stability; moving multiple leader; multiagent system; nonlinear neighbor-based coordination rules; set tracking; unmeasurable velocity; Convergence; Joints; Lead; Multiagent systems; Stability criteria; Topology; (SiISS); Multi-agent systems; convex set; multiple leaders; set input-to-state stability (SISS); set integral input-to-state stability;
Conference_Titel :
Decision and Control (CDC), 2010 49th IEEE Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
978-1-4244-7745-6
DOI :
10.1109/CDC.2010.5716951
