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Observer-based tracking problem of leader-follower multi-agent systems
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. Hebei University of Technology, Tianjin, China.
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0003-0177-1993
2010 (English)In: Proceedings of the 29th Chinese Control Conference, CCC'10, 2010, 5821-5826 p.Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, we consider the tracking problem for leader-follower multi-agent systems moving in the plane. In our model, the system matrix of the leader can be of any form and the control input of the leader is not known to the followers even if they are connected to the leader. To track such a leader, an observer-based decentralized feedback controller is designed for each follower. We show that if the adjacent graph of the system is connected, with the proposed control law, all the followers can track the leader eventually. At last, we generalize the result to the higher dimension case for some special system matrix of the leader.

Place, publisher, year, edition, pages
2010. 5821-5826 p.
Keyword [en]
Decentralized control, Leader-follower, Multi-agent systems, Observer
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-150058Scopus ID: 2-s2.0-78650253798ISBN: 978-789463104-6 (print)OAI: oai:DiVA.org:kth-150058DiVA: diva2:742208
Conference
29th Chinese Control Conference, CCC'10, 29 July 2010 through 31 July 2010, Beijing, China
Note

QC 20140901

Available from: 2014-09-01 Created: 2014-08-29 Last updated: 2014-09-01Bibliographically approved

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Hu, Xiaoming

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