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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
URN: urn:nbn:se:kth:diva-188299DOI: 10.1007/s11768-016-5121-yScopusID: 2-s2.0-84959151987OAI: diva2:935413

QC 20160610

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

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Hu, Xiaoming
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