Title :
Distributed leader escort control of multi-agent systems with variable topologies
Author :
Yanqiong Zhang ; Yiguang Hong
Author_Institution :
Key Lab. of Syst. & Control, Acad. of Math. & Syst. Sci., Beijing, China
Abstract :
This paper addresses the leader escort control problem of multi-agent systems and discusses how the agents can be effectively separated into two groups to move symmetrically around their leader. A distributed design is given to escort the moving leader under an undirected switching graph, based on a neighbor-based state-estimation rule to estimate the leader´s state and a neighbor-based escort controller. With the help of graph theory, the problem can be solved, and related simulations are proposed for illustration.
Keywords :
control system synthesis; distributed control; graph theory; mobile robots; motion control; multi-robot systems; state estimation; distributed design; distributed leader escort control; graph theory; leader state estimation; moving leader escort control problem; multiagent systems; neighbor-based escort controller; neighbor-based state-estimation rule; symmetrical movement; undirected switching graph; variable topologies; Decentralized control; Eigenvalues and eigenfunctions; Laplace equations; Protocols; Switches; Topology; Vectors; Multi-agent systems; distributed algorithms; leader escort; switching topology;
Conference_Titel :
Control Automation Robotics & Vision (ICARCV), 2014 13th International Conference on
DOI :
10.1109/ICARCV.2014.7064389
