Set Tracking of Multi-agent Systems with Variable Topologies Guided by Moving Multiple Leaders

被引：8
作者：
Shi, Guodong [1 ]
Hong, Yiguang [1 ]
机构：
[1] Chinese Acad Sci, Key Lab Syst & Control, Inst Syst Sci, Acad Math & Syst Sci, Beijing 100190, Peoples R China
来源：
49TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC) | 2010年
关键词：
Multi-agent systems; multiple leaders; set input-to-state stability (SISS); set integral input-to-state stability (SiISS); convex set; STABILITY; AGENTS;
D O I：
10.1109/CDC.2010.5716951
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we consider the distributed control of a group of autonomous agents to track the convex hull specified by multiple moving leaders maybe with unmeasurable velocities. Directed interconnection topologies of the follower agents are investigated for the set input-to-state stability (SISS) and set integral input-to-state stability (SiISS), and connectivity-based necessary and sufficient conditions are obtained. Then the tracking errors can be estimated between the agents with nonlinear neighbor-based coordination rules and the polytope spanned by the leaders with the help of SISS and SiISS.
引用
收藏
页码：2245 / 2250
页数：6
相关论文
共 24 条
  • [1] Containment Control with Multiple Stationary or Dynamic Leaders Under a Directed Interaction Graph
    Cao, Yongcan
    Ren, Wei
    [J]. PROCEEDINGS OF THE 48TH IEEE CONFERENCE ON DECISION AND CONTROL, 2009 HELD JOINTLY WITH THE 2009 28TH CHINESE CONTROL CONFERENCE (CDC/CCC 2009), 2009, : 3014 - 3019
  • [2] Region following formation control for multi-robot systems
    Cheah, C. C.
    Hou, S. P.
    Slotine, J. J. E.
    [J]. 2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9, 2008, : 3796 - +
  • [3] An extension of LaSalle's invariance principle and its application to multi-agent consensus
    Cheng, Daizhan
    Wang, Jinhuan
    Hu, Xiaoming
    [J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2008, 53 (07) : 1765 - 1770
  • [4] Clarke F. H., 1998, NONSMOOTH ANAL CONTR, V178, DOI 10.1007/b97650
  • [5] Effective leadership and decision-making in animal groups on the move
    Couzin, ID
    Krause, J
    Franks, NR
    Levin, SA
    [J]. NATURE, 2005, 433 (7025) : 513 - 516
  • [6] THEORY OF MAX-MIN WITH APPLICATIONS
    DANSKIN, JM
    [J]. SIAM JOURNAL ON APPLIED MATHEMATICS, 1966, 14 (04) : 641 - &
  • [7] Godsil C., 2001, Algebraic graph theory
  • [8] Lyapunov-based approach to multiagent systems with switching jointly connected interconnection
    Hong, Yiguang
    Gao, Lixin
    Cheng, Daizhan
    Hu, Jiangping
    [J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2007, 52 (05) : 943 - 948
  • [9] Coordination of groups of mobile autonomous agents using nearest neighbor rules
    Jadbabaie, A
    Lin, J
    Morse, AS
    [J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2003, 48 (06) : 988 - 1001
  • [10] Containment control in mobile networks
    Ji, M.
    Ferrari-Trecate, G.
    Egerstedt, M.
    Buffa, A.
    [J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2008, 53 (08) : 1972 - 1975
123