Leader-following rendezvous with connectivity preservation of single-integrator multi-agent systems

Author

Yi Dong ; Jie Huang

Author_Institution

Dept. of Mech. & Autom. Eng., Chinese Univ. of Hong Kong, Hong Kong, China

Volume

1

Issue

1

fYear

2014

fDate

Jan. 2014

Firstpage

19

Lastpage

23

Abstract

This paper studies the problem of leader-following rendezvous with connectivity preservation for a linear multiagent system where the leader system is a linear autonomous system and the follower system is a multiple single-integrator system. We develop a distributed state feedback control protocol to maintain the connectivity of the system and, at the same time, to achieve asymptotic tracking of all followers to the output of the leader system.

Keywords

distributed control; linear systems; multi-robot systems; observers; state feedback; asymptotic tracking; connectivity preservation; distributed state feedback control protocol; leader-following rendezvous; linear autonomous system; linear multi-agent system; single-integrator multi-agent system; Educational institutions; Eigenvalues and eigenfunctions; Multi-agent systems; State feedback; Symmetric matrices; Trajectory; Single integrator; connectivity preservation; multi-agent systems; rendezvous;

fLanguage

English

Journal_Title

Automatica Sinica, IEEE/CAA Journal of

Publisher

ieee

ISSN

2329-9266

Type

jour

DOI

10.1109/JAS.2014.7004615

Filename

7004615