Consensus tracking algorithms with estimation for multi-agent system

Author

Li Haoran ; Wu Qinghe ; Djaidja, Sabir

Author_Institution

Sch. of Autom., Beijing Inst. of Technol., Beijing, China

fYear

2015

fDate

23-25 May 2015

Firstpage

3808

Lastpage

3813

Abstract

In this paper, we discuss the stability of consensus tracking problem of multi-agent system with communication failure. We present a control law with estimation to reduce the tracking error of single-integrator and double-integrator leader-following consensus. A sufficient condition to reduce the consensus tracking error with communication failure is derived for directed fixed topologies having spanning tree. Finally, we present two simulations, the first is designed to validate control law for single-integrator dynamics and the second is for double-integrator dynamics.

Keywords

directed graphs; multi-agent systems; multi-robot systems; robot dynamics; stability; state estimation; trees (mathematics); communication failure; consensus tracking algorithms; control law with estimation; directed fixed topology; directed graph; double-integrator dynamics; double-integrator leader-following consensus; multiagent system; single-integrator dynamics; single-integrator tracking error reduction; spanning tree; sufficient condition; Algorithm design and analysis; Estimation; Heuristic algorithms; Multi-agent systems; Robots; Symmetric matrices; Topology; Communication failure; Consensus tracking problem; Control law; Leader-following;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference (CCDC), 2015 27th Chinese

Conference_Location

Qingdao

Print_ISBN

978-1-4799-7016-2

Type

conf

DOI

10.1109/CCDC.2015.7162589

Filename

7162589