Leader-Follower Consensus with Unknown Control Direction

被引：0
作者：
Ton, C. [1 ]
Kan, Z. [3 ]
Doucette, E. A. [2 ]
Curtis, J. W. [2 ]
Mehta, S. S. [3 ]
机构：
[1] Air Force Res Lab, Natl Res Council, Wright Patterson AFB, OH 45433 USA
[2] Air Force Res Lab, Munit Directorate, Wright Patterson AFB, OH USA
[3] Univ Florida, REEF, Gainesville, FL 32611 USA
来源：
2016 AMERICAN CONTROL CONFERENCE (ACC) | 2016年
关键词：
MULTIROBOT SYSTEMS; DESIGN;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper considers leader-follower consensus of multi-agent networks with unknown control direction. Sliding mode control is used to achieve consensus tracking under fixed topology with the assumption that the position of the leader is known to a subset of the followers. The proposed consensus law assumes unknown sign in the control input matrix of the followers and does not require the knowledge of the leader's velocity. Lyapunov-based analysis is presented to show that if the directed graph of the network has a directed spanning tree then sliding mode control law can guarantee consensus tracking. Simulations results are provided to verify the feasibility of the proposed controller.
引用
收藏
页码：2820 / 2825
页数：6
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