Observer-based leader-following tracking control under both fixed and switching topologies

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• 作者：Jinhuan Wang ; Pengxiao Zhang ; Zhixin Liu ; Xiaoming Hu
• 关键词：Multi ; agent systems ; leader ; following ; decentralized control ; observer
• 刊名：Control Theory and Technology
• 出版年：2016
• 出版时间：February 2016
• 年：2016
• 卷：14
• 期：1
• 页码：28-38
• 全文大小：2,108 KB
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• 作者单位：Jinhuan Wang (1)
  Pengxiao Zhang (1)
  Zhixin Liu (2)
  Xiaoming Hu (3)
  
  1. School of Sciences, Hebei University of Technology, Tianjin, 300130, China
  2. Key Laboratory of Systems and Control, Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing, 100190, China
  3. Optimization and Systems Theory and ACCESS Linnaeus Center, Royal Institute of Technology, Stockholm, 100 44, Sweden
  
• 刊物类别：Control; Systems Theory, Control; Optimization; Computational Intelligence; Complexity; Control, Rob
• 刊物主题：Control; Systems Theory, Control; Optimization; Computational Intelligence; Complexity; Control, Robotics, Mechatronics;
• 出版者：South China University of Technology and Academy of Mathematics and Systems Science, CAS
• ISSN：2198-0942

文摘

This paper studies the tracking problem for a class of leader-follower multi-agent systems moving on the plane using observer-based cooperative control strategies. In our set-up, only a subset of the followers can obtain some relative information on the leader. We assume that the control input of the leader is not known to any of the followers while the system matrix is broadcast to all the followers. To track such a leader, an observer-based decentralized feedback controller is designed for each follower and detailed analysis for the convergence is presented for both fixed and switching interaction topologies between agents with the method of common Lyapunov function. We can also generalize the result to the higher dimension case for fixed topology and some special system matrices of the leader for switching topology.