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.
2014. , 96 p.