Change search
ReferencesLink to record
Permanent link

Direct link
Observer-based leader-following tracking control under both fixed and switching topologies
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
2016 (English)In: Control Theory and Technology, ISSN 2095-6983, Vol. 14, no 1, 28-38 p.Article in journal (Refereed) PublishedText
Abstract [en]

This paper studies the tracking problem for a class of leader-follower multi-agent systems moving on the plane using observer-based cooperative control strategies. In our set-up, only a subset of the followers can obtain some relative information on the leader. We assume that the control input of the leader is not known to any of the followers while the system matrix is broadcast to all the followers. To track such a leader, an observer-based decentralized feedback controller is designed for each follower and detailed analysis for the convergence is presented for both fixed and switching interaction topologies between agents with the method of common Lyapunov function. We can also generalize the result to the higher dimension case for fixed topology and some special system matrices of the leader for switching topology.

Place, publisher, year, edition, pages
South China University of Technology , 2016. Vol. 14, no 1, 28-38 p.
Keyword [en]
decentralized control, leader-following, Multi-agent systems, observer, Lyapunov functions, Topology, Co-operative control, Common Lyapunov functions, Decentralized feedback, Leader following, Relative information, Switching interaction topologies, Switching topology, Multi agent systems
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-188299DOI: 10.1007/s11768-016-5121-yScopusID: 2-s2.0-84959151987OAI: oai:DiVA.org:kth-188299DiVA: diva2:935413
Note

QC 20160610

Available from: 2016-06-10 Created: 2016-06-09 Last updated: 2016-06-10Bibliographically approved

Open Access in DiVA

No full text

Other links

Publisher's full textScopus

Search in DiVA

By author/editor
Hu, Xiaoming
By organisation
Optimization and Systems Theory
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar
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

Altmetric score

Total: 3 hits
ReferencesLink to record
Permanent link

Direct link