DocumentCode :
622638
Title :
Leader-following consensus control for linear multi-agents systems with switching directed topologies
Author :
Guanghui Wen ; Guoqiang Hu ; Wenwu Yu
Author_Institution :
Dept. of Math., Southeast Univ., Nanjing, China
fYear :
2013
fDate :
12-14 June 2013
Firstpage :
111
Lastpage :
116
Abstract :
This paper addresses the distributed leader-following consensus problem of multi-agent systems with general linear node dynamics and switching directed topologies. The possible underlying topologies consist of a null graph as well as several directed graphs with each of them containing a directed spanning trees with the leader being the root. A new kind of distributed controllers is constructed for each follower to guarantee that the states of the followers can track those of the leader asymptotically. By appropriately constructing a Lyapunov function and using tools from M-matrix theory, some sufficient conditions for achieving leader-following consensus are provided. Theoretical analysis is finally verified by performing numerical simulations.
Keywords :
Lyapunov methods; distributed control; graph theory; linear systems; multi-agent systems; numerical analysis; time-varying systems; Lyapunov function; M-matrix theory; directed graphs; directed spanning trees; distributed controllers; general linear node dynamics; leader following consensus control; linear multiagents systems; null graph; numerical simulations; switching directed topologies; Lead; Lyapunov methods; Multi-agent systems; Protocols; Switches; Topology;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control and Automation (ICCA), 2013 10th IEEE International Conference on
Conference_Location :
Hangzhou
ISSN :
1948-3449
Print_ISBN :
978-1-4673-4707-5
Type :
conf
DOI :
10.1109/ICCA.2013.6565102
Filename :
6565102
Link To Document :
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