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Connectivity maintenance and collective consensus for multi-agent system with an active leader
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.ORCID iD: 0000-0003-0177-1993
2011 (English)In: Proceedings of the 30th Chinese Control Conference, CCC 2011, 2011, 6025-6029 p.Conference paper (Refereed)
Abstract [en]

In this paper, we study a leader-following consensus problem with an active leader and distance-determinant topology. In the scenario we consider, only the leader has the information of the desired motion, and only the followers located within a sensing zone can access to the information of the leader. To reach a desired global consensus, a neighbor-based local controller is developed for the followers. We prove that, under some initial conditions, the proposed control scheme can enable the followers to maintain connectivity, avoid collision, and track the varying-velocity leader. Simulations are also presented to illustrate the theoretical results.

Place, publisher, year, edition, pages
2011. 6025-6029 p.
, Proceedings of the 30th Chinese Control Conference, CCC 2011
Keyword [en]
Active Leader, Connectivity, Consensus, Leader-following, Connectivity maintenance, Consensus problems, Control schemes, Initial conditions, Local controllers, Theoretical result, Multi agent systems, Intelligent agents
National Category
Control Engineering Robotics
URN: urn:nbn:se:kth:diva-150748ISI: 000312652106029ScopusID: 2-s2.0-80053063878ISBN: 9789881725592OAI: diva2:745036
30th Chinese Control Conference, CCC 2011, 22 July 2011 through 24 July 2011, Yantai

QC 20140909

Available from: 2014-09-09 Created: 2014-09-09 Last updated: 2014-09-09Bibliographically approved

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