Set tracking of multi-agent systems with variable topologies guided by moving multiple leaders

Author

Shi, Guodong ; Hong, Yiguang

Author_Institution

Key Lab. of Syst. & Control, Chinese Acad. of Sci., Beijing, China

fYear

2010

fDate

15-17 Dec. 2010

Firstpage

2245

Lastpage

2250

Abstract

In this paper, we consider the distributed control of a group of autonomous agents to track the convex hull specified by multiple moving leaders maybe with unmeasurable velocities. Directed interconnection topologies of the follower agents are investigated for the set input-to-state stability (SISS) and set integral input-to-state stability (SiISS), and connectivity-based necessary and sufficient conditions are obtained. Then the tracking errors can be estimated between the agents with nonlinear neighbor-based coordination rules and the polytope spanned by the leaders with the help of SISS and SiISS.

Keywords

graph theory; multi-agent systems; network theory (graphs); set theory; stability; autonomous agent; convex hull; directed interconnection topology; distributed control; integral input-to-state stability; moving multiple leader; multiagent system; nonlinear neighbor-based coordination rules; set tracking; unmeasurable velocity; Convergence; Joints; Lead; Multiagent systems; Stability criteria; Topology; (SiISS); Multi-agent systems; convex set; multiple leaders; set input-to-state stability (SISS); set integral input-to-state stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control (CDC), 2010 49th IEEE Conference on

Conference_Location

Atlanta, GA

ISSN

0743-1546

Print_ISBN

978-1-4244-7745-6

Type

conf

DOI

10.1109/CDC.2010.5716951

Filename

5716951