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
收藏
页码：3028 / 3033
页数：6
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