Connectivity and Set Tracking of Multi-Agent Systems Guided by Multiple Moving Leaders
Connectivity and Set Tracking of Multi-Agent Systems Guided by Multiple Moving Leaders
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DOI：
10.1109/tac.2011.2164733
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发表时间：
2011-12
影响因子：
6.8
通讯作者：
Guodong Shi;Yiguang Hong;K. Johansson
中科院分区：
文献类型：
--
作者：
Guodong Shi;Yiguang Hong;K. Johansson
在本文中，我们研究了分布式多智能体跟踪的凸集指定的多个移动的领导人与不可测的速度。在集合跟踪的研究中，考虑了具有不确定性的跟随者智能体的各种联合连接的交互拓扑。基于时变多智能体系统的连通性，得到了一类具有切换有向拓扑的非线性邻居协调规则的集输入-状态稳定性和集积分输入-状态稳定性的充分必要条件.渐近集跟踪的条件也提出了关于由领导人所跨越的多面体。
In this paper, we investigate distributed multi-agent tracking of a convex set specified by multiple moving leaders with unmeasurable velocities. Various jointly connected interaction topologies of the follower agents with uncertainties are considered in the study of set tracking. Based on the connectivity of the time-varying multi-agent system, necessary and sufficient conditions are obtained for set input-to-state stability and set integral input-to-state stability for a nonlinear neighbor-based coordination rule with switching directed topologies. Conditions for asymptotic set tracking are also proposed with respect to the polytope spanned by the leaders.