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Second Order Consensus for Leader-follower Multi-agent Systems with Prescribed Performance
KTH, Skolan för elektroteknik och datavetenskap (EECS), Intelligenta system, Reglerteknik.
KTH, Skolan för elektroteknik och datavetenskap (EECS), Intelligenta system, Reglerteknik.ORCID-id: 0000-0001-7309-8086
2019 (engelsk)Inngår i: IFAC PAPERSONLINE, ELSEVIER , 2019, Vol. 52, nr 20, s. 103-108Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

The problem of distributed control for second order leader-follower multi-agent systems with prescribed performance guarantees is investigated in this paper. Leader-follower is meant in the sense that a group of agents with external inputs are selected as leaders in order to drive the group of followers in a way that the entire system can achieve consensus within certain prescribed performance transient bounds. Under the assumption of tree graphs, we propose a distributed control law based on a backstepping approach for the group of leaders to steer the entire system achieving consensus within the prescribed performance bounds. Finally, a simulation example is given to verify the results. 

sted, utgiver, år, opplag, sider
ELSEVIER , 2019. Vol. 52, nr 20, s. 103-108
Emneord [en]
Leader-follower control, consensus, multi-agent systems, prescribed performance control
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-266505DOI: 10.1016/j.ifacol.2019.12.136ISI: 000504302900019Scopus ID: 2-s2.0-85082667639OAI: oai:DiVA.org:kth-266505DiVA, id: diva2:1422034
Konferanse
8th IFAC Workshop on Distributed Estimation and Control in Networked Systems (NECSYS), SEP 16-17, 2019, Loyola Univ, Chicago, IL
Merknad

QC 20220621

Tilgjengelig fra: 2020-04-06 Laget: 2020-04-06 Sist oppdatert: 2022-06-26bibliografisk kontrollert

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