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Connectivity and set tracking of multi-agent systems guided by multiple moving leaders
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-9940-5929
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
Abstract [en]

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.
Keyword [en]
Multi-agent systems, multiple leaders, set input-to-state stability (SISS), set integral input-to-state stability (SiISS), set tracking
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-79499DOI: 10.1109/TAC.2011.2164733ISI: 000300845400009Scopus ID: 2-s2.0-84857761122OAI: oai:DiVA.org:kth-79499DiVA: diva2:495569
Funder
Knut and Alice Wallenberg FoundationSwedish Research CouncilICT - The Next Generation
Note

QC 20120419

Available from: 2012-02-09 Created: 2012-02-09 Last updated: 2017-12-07Bibliographically approved

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Johansson, Karl Henrik

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
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  • vancouver
  • Other style
More styles
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  • de-DE
  • en-GB
  • en-US
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  • nn-NB
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  • Other locale
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Output format
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