Title :
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
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;
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
DOI :
10.1109/CHICC.2008.4605540
