Second-order tracking control for leader-follower multi-agent flocking in directed graphs with switching topology |
| |
| Authors: | Wanli Guo,Jinhu Lü Shihua Chen,Xinghuo Yu |
| |
| Affiliation: | a Department of Mathematics and Physics, China University of Geosciences, Wuhan 430074, PR Chinab Institute of Systems Science, Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing 100190, PR Chinac College of Mathematics and Statistics, Wuhan University, Wuhan 430072, PR Chinad School of Electrical and Computer Engineering, RMIT University, Melbourne VIC 3001, Australia |
| |
| Abstract: | This paper investigates the flocking problem for leader-follower multi-agent systems in directed graphs with switching topology. A decentralized state control rule, namely, a second-order protocol, is designed for each agent to track the leader. And it is proved that the proposed control scheme can effectively estimate the tracking error of each agent when the leader is active. Particularly, to ensure the tracking error can be estimated, the following two questions are solved: (1) How many agents are needed to connect to the leader? (2) How should these connections be distributed? Finally, a simple example is also given to verify the effectiveness of the proposed theorems. |
| |
| Keywords: | Flocking problem Leader-follower multi-agent systems Directed graphs Switching topology Second-order protocol |
| 本文献已被 ScienceDirect 等数据库收录！ |
|
