| 摘要: |
| This paper studies the tracking problem for a class of leader-follower multi-agent systems moving on the plane using observerbased cooperative control strategies. In our set-up, only a subset of the followers can obtain some relative information on the leader. We assume that the control input of the leader is not known to any of the followers while the system matrix is broadcast to all the followers. To track such a leader, an observer-based decentralized feedback controller is designed for each follower and detailed analysis for the convergence is presented for both fixed and switching interaction topologies between agents with the method of common Lyapunov function. We can also generalize the result to the higher dimension case for fixed topology and some special system matrices of the leader for switching topology. |
| 关键词: Multi-agent systems, leader-following, decentralized control, observer |
| DOI： |
| Received:November 27, 2015Revised:December 07, 2015 |
| 基金项目: |
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| Observer-based leader-following tracking controlunder both fixed and switching topologies |
| J. Wang,P. Zhang,Z. Liu,X. Hu |
| (School of Sciences, Hebei University of Technology;Key Laboratory of Systems and Control, Academy of Mathematics and Systems Science, Chinese Academy of Sciences;Optimization and Systems Theory and ACCESS Linnaeus Center, Royal Institute of Technology) |
| Abstract: |
| This paper studies the tracking problem for a class of leader-follower multi-agent systems moving on the plane using observerbased cooperative control strategies. In our set-up, only a subset of the followers can obtain some relative information on the leader. We assume that the control input of the leader is not known to any of the followers while the system matrix is broadcast to all the followers. To track such a leader, an observer-based decentralized feedback controller is designed for each follower and detailed analysis for the convergence is presented for both fixed and switching interaction topologies between agents with the method of common Lyapunov function. We can also generalize the result to the higher dimension case for fixed topology and some special system matrices of the leader for switching topology. |
| Key words: Multi-agent systems, leader-following, decentralized control, observer |
