Title :
Consensus tracking for multi-vehicle system with a well-informed leader: Adaptive control method
Author :
Zhang, JingMei ; Sun, Changyin ; Wang, Li ; Xia, Jianwei
Author_Institution :
Sch. of Autom., Southeast Univ., Nanjing, China
Abstract :
By referring to adaptive control method, the consensus tracking problem for multi-vehicle system with a well-informed leader is discussed. The graph can be directed, which means that each vehicle communicate with some others by following specified information exchange rules. The uncertainties of information exchange rules between agents are regarded as perturbations. In this paper, we propose an improved adaptive control method for consensus tracking to compensate such perturbation. All the vehicles can track a constant reference by using our proposed method, even if topology of the specified graph is time-varying. Furthermore the feedback control gain of the leader can be given by solving linear matrix inequalities (LMIs). Numerical simulations are also given to illustrate the effectiveness of the proposed method.
Keywords :
adaptive control; directed graphs; feedback; linear matrix inequalities; multi-robot systems; perturbation techniques; road vehicles; time-varying systems; adaptive control method; consensus tracking problem; directed graph; feedback control gain; information exchange rules; linear matrix inequalities; multi-vehicle system; perturbations; time-varying system; topology; well-informed leader; Adaptive control; Multiagent systems; Switches; Topology; Uncertainty; Vehicle dynamics; Vehicles; adaptive control; consensus tracking; linear matrix inequalities(LMIs); multi-vehicle systems;
Conference_Titel :
Control and Decision Conference (CCDC), 2011 Chinese
Conference_Location :
Mianyang
Print_ISBN :
978-1-4244-8737-0
DOI :
10.1109/CCDC.2011.5968339