Leader-following consensus of multi-agent systems with switching topologies and time-delays

被引：12
作者：
Guo L. [1 ]
Nian X. [1 ]
Pan H. [1 ]
机构：
[1] School of Information Science and Engineering, Central South University, Changsha Hunan
来源：
Journal of Control Theory and Applications | 2013年 / 11卷 / 02期
基金：
中国国家自然科学基金;
关键词：
Leader-following consensus; Multi-agent systems; Switching topology; Time-delays;
D O I：
10.1007/s11768-013-1191-2
中图分类号：
学科分类号：
摘要：
This paper investigates the leader-following consensus problem of multi-agent systems where the leader is static and the controlling effect of each follower depends on its own state. The control protocols are proposed for two cases: i) for network with switching topologies and undirected information flow; ii) for network with directed information flow and communication time-delays. With the aid of several tools from algebraic graph, matrix theory and stability theory, the sufficient conditions guaranteeing leader-following consensus are obtained by constructing appropriate Lyapunov functions. Simulations are presented to demonstrate the effectiveness of our theoretical results. © 2013 South China University of Technology, Academy of Mathematics and Systems Science, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg.
引用
收藏
页码：306 / 310
页数：4
相关论文
共 24 条
  • [1] Olfati-Saber R., Fax J.A., Murray R., Consensus and cooperation in networked multi-agent systems, Proceedings of the IEEE, 95, 1, pp. 215-233, (2007)
  • [2] Ren W., Beard R.W., Atkins E.M., Information consensus in multivehicle cooperative control, IEEE Control Systems Magazine, 27, 2, pp. 71-82, (2007)
  • [3] Shi H., Wang L., Chu T., Swarming behavior of multi-agent systems, Journal of Control Theory and Applications, 2, 4, pp. 313-318, (2004)
  • [4] Chu T., Wang L., Chen T., Et al., Complex emergent dynamics of anisotropic swarms: convergence vs oscillation, Chaos, Solitons and Fractals, 30, 4, pp. 875-885, (2006)
  • [5] Veerman J.J.P., Lafferriere G., Caughman J.S., Et al., Flocks and formations, Journal of Statistical Physics, 121, 5-6, pp. 901-936, (2005)
  • [6] Tian Y., A general stabilitycriterion for congestion control with diverse communication delays, Automatica, 41, 7, pp. 1255-1262, (2005)
  • [7] Cortes J., Martinez S., Karatas T., Et al., Coverage control for mobile sensing networks[J], IEEE Transactions on Robotics and Automation, 20, 2, pp. 243-255, (2004)
  • [8] Olfati-Saber R., Flocking for multi-agent dynamic systems: algorithms and theory, IEEE Transactions on Automatic Control, 51, 3, pp. 401-420, (2006)
  • [9] Liu B., Chu T., Wang L., Et al., Controllability of a leader-follower dynamic network with switching topology, IEEE Transactions on Automatic Control, 53, 4, pp. 1009-1013, (2008)
  • [10] Hong Y., Chen G., Bushnell L., Distributed observers design for leader-following control of multi-agent networks, Automatica, 44, 3, pp. 846-850, (2008)
123