A criterion of the consensus problems in multi-agent systems with one leader and multi-follower

Author

Zili, Li ; Zengqiang, Chen ; Zhuzhi, Yuan

Author_Institution

Dept. of Autom., Nankai Univ., Tianjin

fYear

2008

fDate

16-18 July 2008

Firstpage

536

Lastpage

539

Abstract

This note investigates the consensus problems of a system with one leader and multi-followers. Decentralized controllers are designed for continuous-time autonomous follower described by one or double integrator respectively. Sliding mode control technique is adopted to realize the consensus of the system in which the followers have general dynamics. A sufficient condition to make all the followers catch up leader and keep the desired formation is given by a proposed Lyapunov-based approach.

Keywords

Lyapunov methods; continuous time systems; decentralised control; mobile robots; multi-robot systems; variable structure systems; Lyapunov-based approach; consensus problems criterion; continuous-time autonomous follower; controller design; decentralized controllers; multi-agent systems; sliding mode control technique; Automatic control; Automation; Control design; Control systems; Distributed control; Multiagent systems; Pattern formation; Sliding mode control; Space technology; Sufficient conditions; Consensus; Decentralized control; Leader; Multi-agent systems; Sliding mode control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference, 2008. CCC 2008. 27th Chinese

Conference_Location

Kunming

Print_ISBN

978-7-900719-70-6

Electronic_ISBN

978-7-900719-70-6

Type

conf

DOI

10.1109/CHICC.2008.4605545

Filename

4605545