Title :
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
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;
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
DOI :
10.1109/CHICC.2008.4605545
