Leader-following consensus problem with a varying-velocity leader and time-varying delays
Leader-following consensus problem with a varying-velocity leader and time-varying delays
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DOI：
10.1016/j.physa.2008.10.009
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发表时间：
2009-01
影响因子：
3.3
通讯作者：
Ke Peng;Yupu Yang
中科院分区：
文献类型：
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作者：
Ke Peng;Yupu Yang
本文研究了具有变速度领导者和时变延迟的多智能体系统的领导者-跟随一致性问题。在这里，追随者之间的互动图是切换和平衡的。首先，我们提出了一个基于邻居的规则，让每个智能体跟踪一个状态可能无法测量的领导者。此外，我们还考虑了该多智能体系统在两种不同条件下的收敛性分析：追随者与领导者之间的联系是时不变的和时变的。针对第一种情况，引入了一种新的分解方法，便于收敛分析。利用Lyapunov-Krasovskii泛函，得到了跟踪误差最终一致有界的充分条件。最后，给出了两个仿真来验证我们的理论结果。
In this paper, we study a leader-following consensus problem for a multi-agent system with a varying-velocity leader and time-varying delays. Here, the interaction graph among the followers is switching and balanced. At first, we propose a neighbor-based rule for every agent to track a leader whose states may not be measured. In addition, we consider the convergence analysis of this multi-agent system under two different conditions: the connection between the followers and the leader is time-invariant and time-varying. For the first case, a novel decomposition method is introduced to facilitate the convergence analysis. By utilizing a Lyapunov–Krasovskii functional, we obtain sufficient conditions for uniformly ultimately boundedness of the tracking errors. Finally, two simulations are also presented to illustrate our theoretical results.