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On topological conditions to maintain leader-follower connectivity in double-integrator multi-agent systems
KTH, School of Electrical Engineering (EES), Automatic Control.ORCID iD: 0000-0001-7309-8086
2016 (English)In: 24th Mediterranean Conference on Control and Automation, MED 2016, Institute of Electrical and Electronics Engineers (IEEE), 2016, 767-772 p.Conference paper (Refereed)
Abstract [en]

In this work, a set of sufficient conditions that guarantee consensus towards a pre-specified target state in double-integrator leader-follower proximity-based networks are derived. Since only the leader agents are aware of the global objective and proximity-based communication between agents is considered, the follower agents must not lose contact to the leaders. We establish a connectivity analysis framework which is used to show that the initial network topology is maintained if the ratio of leaders-to-followers and the magnitude of the goal attraction force experienced by the leaders are below certain bounds. Various network topologies are examined, starting from a complete graph and extending to incomplete graphs. The theoretical results are illustrated by simulations. © 2016 IEEE.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2016. 767-772 p.
Keyword [en]
Topology, Attraction force, Communication between agents, Complete graphs, Connectivity analysis, Double integrator, Global objective, Network topology, Topological conditions, Multi agent systems
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-194990DOI: 10.1109/MED.2016.7535858ScopusID: 2-s2.0-84986206666ISBN: 9781467383455OAI: oai:DiVA.org:kth-194990DiVA: diva2:1044237
Conference
24th Mediterranean Conference on Control and Automation, MED 2016, 21 June 2016 through 24 June 2016
Note

QC 20161102

Available from: 2016-11-02 Created: 2016-11-01 Last updated: 2016-11-02Bibliographically approved

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Dimarogonas, D. V.
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ReferencesLink to record
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