Tracking control for multi-agent consensus with an active leader and variable topology
Mathematical Physics
2007-05-23 v1 math.MP
Abstract
In this paper, we consider the coordination control of a group of autonomous mobile agents with multiple leaders. Different interconnection topologies are investigated. At first, a necessary and sufficient condition is proved in the case of fixed interconnection topology. Then a sufficient condition is proposed when the interconnection topology is switched. With a simple first-order dynamics model by using the neighborhood rule, both results show that the group behavior of the agents will converge to the polytope formed by the leaders.
Cite
@article{arxiv.0705.0403,
title = {Tracking control for multi-agent consensus with an active leader and variable topology},
author = {Jiangping Hu and Yiguang Hong and Linxin Gao},
journal= {arXiv preprint arXiv:0705.0403},
year = {2007}
}