Tracking control for multi-agent consensus with an active leader and variable topology
Tracking control for multi-agent consensus with an active leader and variable topology
复制标题
DOI：
10.1016/j.automatica.2006.02.013
复制
发表时间：
2006-07-01
期刊：
影响因子：
6.4
通讯作者：
Gao, Linxin
中科院分区：
文献类型：
--
作者：
Hong, Yiguang;Hu, Jiangping;Gao, Linxin
本文考虑了一个具有主动引导者和可变互连拓扑的多智能体共识问题。被考虑的领导者的状态不仅不断变化，而且可能无法衡量。为了跟踪这样的领导者，每个自治代理都给出了一个基于邻居的本地控制器和一个基于邻居的状态估计规则。证明了在主动引导者的加速度输入已知的情况下，每个智能体都可以跟随引导者，如果引导者的输入未知，则估计跟踪误差。(C)2006爱思唯尔有限公司。保留所有权利。
In this paper, we consider a multi-agent consensus problem with an active leader and variable interconnection topology. The state of the considered leader not only keeps changing but also may not be measured. To track such a leader, a neighbor-based local controller together with a neighbor-based state-estimation rule is given for each autonomous agent. Then we prove that, with the proposed control scheme, each agent can follow the leader if the (acceleration) input of the active leader is known, and the tracking error is estimated if the input of the leader is unknown. (c) 2006 Elsevier Ltd. All rights reserved.