Title :
Leader-following consensus of non-linear multi-agent systems with jointly connected topology
Author :
Wenying Xu ; Jinde Cao ; Wenwu Yu ; Jianquan Lu
Author_Institution :
Dept. of Math., Southeast Univ., Nanjing, China
Abstract :
The leader-following consensus of non-linear multi-agent systems is investigated in this study. The authors further study this problem without the assumption that the topology among followers is connected or fixed. Based on a representative general non-linear model, they address such a leader-following consensus issue from a new perspective and then obtain several basic criteria for the consensus of the non-linear multi-agent system. Simultaneously, the simplified conditions of its corresponding linear multi-agent systems for achieving consensus are derived. Finally, numerical examples are presented to verify the theoretical analysis.
Keywords :
linear systems; mobile robots; multi-robot systems; nonlinear control systems; topology; jointly connected topology; leader-following consensus; linear multiagent systems; nonlinear multiagent systems;
Journal_Title :
Control Theory & Applications, IET
DOI :
10.1049/iet-cta.2013.0813