Practical consensus tracking of multi-agent systems with linear controllers

被引：0

作者：

Isfoula, Fayrouz ^{[1
]}

Bernuau, Emmanuel ^{[2
]}

Moulay, Emmanuel ^{[3
]}

Coirault, Patrick ^{[1
]}

Liu, Qishuai ^{[4
]}

Hui, Qing ^{[4
]}

机构：

[1] Univ Poitiers, LIAS, EA 6315, 2 Rue Pierre Brousse, F-86073 Poitiers 9, France

[2] AgroParis Tech, GENIAL, UMR INRA 1145, 1 Ave Olympiades, F-91744 Massy, France

[3] Univ Poitiers, XLIM, UMR CNRS 7252, 11 Bd Marie & Pierre Curie, F-86073 Poitiers 9, France

[4] Univ Nebraska Lincoln, Dept Elect & Comp Engn, Lincoln, NE 68588 USA

来源：

2019 18TH EUROPEAN CONTROL CONFERENCE (ECC) | 2019年

关键词：

LEADER-FOLLOWING CONSENSUS; FINITE-TIME CONSENSUS; SWITCHING TOPOLOGY; COMMUNICATION; DELAYS; AGENTS;

D O I：

10.23919/ecc.2019.8795734

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 second-order practical consensus tracking of multi-agent systems with a fixed topology and a varying leader's velocity is obtained by using a linear control strategy and the input-to-state stability framework. Then, a new control protocol is proposed where the leader, called a perceptive leader, receives information from its followers. Finally, a study is provided in simulation and on a fleet of mobile robots showing the effectiveness of non perceptive and perceptive strategies in terms of speed of convergence, precision and connectivity maintenance.

引用

页码：3028 / 3033

页数：6

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