Title :
Consensus tracking algorithms with estimation for multi-agent system
Author :
Li Haoran ; Wu Qinghe ; Djaidja, Sabir
Author_Institution :
Sch. of Autom., Beijing Inst. of Technol., Beijing, China
Abstract :
In this paper, we discuss the stability of consensus tracking problem of multi-agent system with communication failure. We present a control law with estimation to reduce the tracking error of single-integrator and double-integrator leader-following consensus. A sufficient condition to reduce the consensus tracking error with communication failure is derived for directed fixed topologies having spanning tree. Finally, we present two simulations, the first is designed to validate control law for single-integrator dynamics and the second is for double-integrator dynamics.
Keywords :
directed graphs; multi-agent systems; multi-robot systems; robot dynamics; stability; state estimation; trees (mathematics); communication failure; consensus tracking algorithms; control law with estimation; directed fixed topology; directed graph; double-integrator dynamics; double-integrator leader-following consensus; multiagent system; single-integrator dynamics; single-integrator tracking error reduction; spanning tree; sufficient condition; Algorithm design and analysis; Estimation; Heuristic algorithms; Multi-agent systems; Robots; Symmetric matrices; Topology; Communication failure; Consensus tracking problem; Control law; Leader-following;
Conference_Titel :
Control and Decision Conference (CCDC), 2015 27th Chinese
Conference_Location :
Qingdao
Print_ISBN :
978-1-4799-7016-2
DOI :
10.1109/CCDC.2015.7162589
