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Wang Jinhuan1; Zhang Pengxiao1; Liu Zhixin2; Hu Xiaoming3
Source Publicationcontroltheoryandtechnology
AbstractThis 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.
Document Type期刊论文
Recommended Citation
GB/T 7714
Wang Jinhuan,Zhang Pengxiao,Liu Zhixin,et al. observerbasedleaderfollowingtrackingcontrolunderbothfixedandswitchingtopologies[J]. controltheoryandtechnology,2016,014(001):28.
APA Wang Jinhuan,Zhang Pengxiao,Liu Zhixin,&Hu Xiaoming.(2016).observerbasedleaderfollowingtrackingcontrolunderbothfixedandswitchingtopologies.controltheoryandtechnology,014(001),28.
MLA Wang Jinhuan,et al."observerbasedleaderfollowingtrackingcontrolunderbothfixedandswitchingtopologies".controltheoryandtechnology 014.001(2016):28.
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