Connectivity and set tracking of multi-agent systems guided by multiple moving leaders
2012 (English)In: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 57, no 3, 663-676 p.Article in journal (Refereed) Published
In this paper, we investigate distributed multi-agent tracking of a convex set specified by multiple moving leaders with unmeasurable velocities. Various jointly connected interaction topologies of the follower agents with uncertainties are considered in the study of set tracking. Based on the connectivity of the time-varying multi-agent system, necessary and sufficient conditions are obtained for set input-to-state stability and set integral input-to-state stability for a nonlinear neighbor-based coordination rule with switching directed topologies. Conditions for asymptotic set tracking are also proposed with respect to the polytope spanned by the leaders.
Place, publisher, year, edition, pages
2012. Vol. 57, no 3, 663-676 p.
Multi-agent systems, multiple leaders, set input-to-state stability (SISS), set integral input-to-state stability (SiISS), set tracking
Electrical Engineering, Electronic Engineering, Information Engineering
IdentifiersURN: urn:nbn:se:kth:diva-79499DOI: 10.1109/TAC.2011.2164733ISI: 000300845400009ScopusID: 2-s2.0-84857761122OAI: oai:DiVA.org:kth-79499DiVA: diva2:495569
FunderKnut and Alice Wallenberg FoundationSwedish Research CouncilICT - The Next Generation
QC 201204192012-02-092012-02-092013-04-11Bibliographically approved