Second-order tracking control for leader-follower multi-agent flocking in directed graphs with switching topology

被引：60

作者：

Guo, Wanli ^{[1
]}

Lu, Jinhu ^{[2
]}

Chen, Shihua ^{[3
]}

Yu, Xinghuo ^{[4
]}

机构：

[1] China Univ Geosci, Dept Math & Phys, Wuhan 430074, Peoples R China

[2] Chinese Acad Sci, Acad Math & Syst Sci, Inst Syst Sci, Beijing 100190, Peoples R China

[3] Wuhan Univ, Coll Math & Stat, Wuhan 430072, Peoples R China

[4] RMIT Univ, Sch Elect & Comp Engn, Melbourne, Vic 3001, Australia

来源：

SYSTEMS & CONTROL LETTERS | 2011年 / 60卷 / 12期

基金：

澳大利亚研究理事会; 中国国家自然科学基金;

关键词：

Flocking problem; Leader-follower multi-agent systems; Directed graphs; Switching topology; Second-order protocol; CONSENSUS; SYSTEMS; SYNCHRONIZATION; NETWORKS; AGENTS;

D O I：

10.1016/j.sysconle.2011.09.020

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper investigates the flocking problem for leader follower multi-agent systems in directed graphs with switching topology. A decentralized state control rule, namely, a second-order protocol, is designed for each agent to track the leader. And it is proved that the proposed control scheme can effectively estimate the tracking error of each agent when the leader is active. Particularly, to ensure the tracking error can be estimated, the following two questions are solved: (1) How many agents are needed to connect to the leader? (2) How should these connections be distributed? Finally, a simple example is also given to verify the effectiveness of the proposed theorems. (C) 2011 Elsevier B.V. All rights reserved.

引用

页码：1051 / 1058

页数：8

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