Consensus Control of Leader-following Multi-agent System in Partial Directed Topology

2020 ◽  
Author(s):  
Chunsheng Yan ◽  
Yongjian Zheng ◽  
Chuan Huang ◽  
Simeng Xue ◽  
Hongwei Sun ◽  
...  
Keyword(s):  
Multi Agent System ◽  
Consensus Control ◽  
Agent System ◽  
Directed Topology ◽  
Leader Following ◽  
Multi Agent

scholarly journals Distributed Adaptive Formation Tracking Control under Fixed and Switching Topologies: Application on General Linear Multi-Agent Systems

Symmetry ◽  
2021 ◽  
Vol 13 (6) ◽  
pp. 941
Author(s):  
Tianhao Sun ◽  
Huiying Liu ◽  
Yongming Yao ◽  
Tianyu Li ◽  
Zhibo Cheng
Keyword(s):  
Switching Topology ◽  
General Linear ◽  
Time Varying ◽  
Multi Agent System ◽  
Multi Agent Systems ◽  
Agent System ◽  
Switching Topologies ◽  
Formation Tracking ◽  
Leader Following ◽  
Multi Agent

In this paper, the time-varying formation tracking problem of the general linear multi-agent system is discussed. A distributed formation tracking protocol based on Riccati inequalities with adaptive coupling weights among the follower agents and the leader agent is designed for a leader-following multi-agent system under fixed and switching topologies. The formation configuration involved in this paper is expressed as a bounded piecewise continuously differentiable vector function. The follower agents will achieve the desired formation tracking trajectory of the leader. In traditional static protocols, the coupling weights depend on the communication topology and is a constant. However, in this paper, the coupling weights are updated by the state errors among the neighboring agents. Moreover, the stability analysis of the MAS under switching topology is presented, and proves that the followers also could achieve pre-specified time-varying formation, if the communication graph is jointly connected. Two numerical simulations indicate the capabilities of the algorithms.

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