Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Double-Integrator Leader-Follower Networks: Sufficient Conditions for Connectivity Maintenance
KTH, School of Electrical Engineering (EES), Automatic Control.
2014 (English)Student paper other, 20 credits / 30 HE creditsStudent thesis
Abstract [en]

In this thesis, a set of sufficient conditions that guarantee consensus towards a

pre-specified target state in double-integrator leader-follower networks are derived.

Since only the leader agents are aware of the global objective and proximity based

communication between all agents is considered, the follower agents must not lose

contact to the leaders.

In a first step, it is shown that such consensus seeking networks converge to the

leader induced target state, as long as the interconnection graph is connected. A

connectivity analysis framework is then established to make statements on the

interconnection of any two initially connected agents during evolution of the system.

This framework is subsequently used to state conditions which ensure preservation

of all inter-agent links – and thus keeping the graph connected. These sufficient

conditions put constraints on the magnitude of the goal attraction force experienced

by the leaders as well as on the ratio of leader and follower agents in the network.

Various different network topologies are examined, starting from an initially complete

graph structure and extending to incomplete graphs.

The theoretical results are illustrated by numerous computer simulations highlighting

the relevance and effectiveness of the presented conditions.

Place, publisher, year, edition, pages
2014. , 96 p.
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-151021OAI: oai:DiVA.org:kth-151021DiVA: diva2:746354
Supervisors
Available from: 2014-09-12 Created: 2014-09-12 Last updated: 2014-09-12Bibliographically approved

Open Access in DiVA

fulltext(1110 kB)312 downloads
File information
File name FULLTEXT01.pdfFile size 1110 kBChecksum SHA-512
d67debb047b165df286f0ed89927bddd5a81c8da6f9236e39c47c0fb35eaff336ada930f893f899d553f54ddba47538be4a104d82b123dbc2f1877c89981cc79
Type fulltextMimetype application/pdf

By organisation
Automatic Control
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 312 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 111 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf