Observer-based tracking problem of leader-follower multi-agent systems
2010 (English)In: Proceedings of the 29th Chinese Control Conference, CCC'10, 2010, 5821-5826 p.Conference paper (Refereed)
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.
Decentralized control, Leader-follower, Multi-agent systems, Observer
IdentifiersURN: urn:nbn:se:kth:diva-150058ScopusID: 2-s2.0-78650253798ISBN: 978-789463104-6OAI: oai:DiVA.org:kth-150058DiVA: diva2:742208
29th Chinese Control Conference, CCC'10, 29 July 2010 through 31 July 2010, Beijing, China
QC 201409012014-09-012014-08-292014-09-01Bibliographically approved