scholarly journals Adaptive leader-following state consensus of multiagent systems with switching topology

2018 ◽  
Vol 32 (10) ◽  
pp. 1508-1528 ◽  
Author(s):  
Ge Song ◽  
Gang Tao
Keyword(s):  
Multiagent Systems ◽  
Switching Topology ◽  
Leader Following

scholarly journals Distributed Leader-Following Finite-Time Consensus Control for Linear Multiagent Systems under Switching Topology

2014 ◽  
Vol 2014 ◽  
pp. 1-13
Author(s):  
Xiaole Xu ◽  
Shengyong Chen ◽  
Lixin Gao
Keyword(s):  
Multiagent Systems ◽  
Finite Time ◽  
Switching Topology ◽  
Linear Matrix ◽  
Sufficient Condition ◽  
Dynamical Models ◽  
Consensus Protocol ◽  
Consensus Control ◽  
Leader Following ◽  
Discrete Time Case

This paper investigates the finite-time consensus problem of leader-following multiagent systems. The dynamical models for all following agents and the leader are assumed the same general form of linear system, and the interconnection topology among the agents is assumed to be switching and undirected. We mostly consider the continuous-time case. By assuming that the states of neighbouring agents are known to each agent, a sufficient condition is established for finite-time consensus via a neighbor-based state feedback protocol. While the states of neighbouring agents cannot be available and only the outputs of neighbouring agents can be accessed, the distributed observer-based consensus protocol is proposed for each following agent. A sufficient condition is provided in terms of linear matrix inequalities to design the observer-based consensus protocol, which makes the multiagent systems achieve finite-time consensus under switching topologies. Then, we discuss the counterparts for discrete-time case. Finally, we provide an illustrative example to show the effectiveness of the design approach.

scholarly journals Distributed Tracking Control for Discrete-Time Multiagent Systems with Novel Markovian Switching Topologies

2017 ◽  
Vol 2017 ◽  
pp. 1-10
Author(s):  
Hongbin Wang ◽  
Zhen Zhou ◽  
Zhongquan Hu
Keyword(s):  
Multiagent Systems ◽  
Discrete Time ◽  
Tracking Control ◽  
Sampling Period ◽  
Consensus Algorithm ◽  
Switching Topology ◽  
Tracking Errors ◽  
Control Gain ◽  
Leader Following ◽  
Coordinated Tracking

Distributed discrete-time coordinated tracking control problem is investigated for multiagent systems in the ideal case, where agents with a fixed graph combine with a leader-following group, aiming to expand the function of the traditional one in some scenes. The modified union switching topology is derived from a set of Markov chains to the edges by introducing a novel mapping. The issue on how to guarantee all the agents tracking the leader is solved through a PD-like consensus algorithm. The available sampling period and the feasible control gain are calculated in terms of the trigonometric function theory, and the mean-square bound of tracking errors is provided finally. Simulation example is presented to demonstrate the validity of the theoretical results.

scholarly journals Second-Order Leader-Following Consensus of Multiagent Systems with Time Delays

2013 ◽  
Vol 2013 ◽  
pp. 1-8 ◽  
Author(s):  
Hong Xia ◽  
Ting-Zhu Huang ◽  
Jin-Liang Shao ◽  
Jun-Yan Yu
Keyword(s):  
Multiagent Systems ◽  
Time Delays ◽  
Second Order ◽  
Switching Topology ◽  
Necessary Condition ◽  
Constant Acceleration ◽  
Leader Following ◽  
Fixed Topology ◽  
Sufficient And Necessary Condition ◽  
Theoretical Results

This paper is concerned with a leader-following consensus problem of second-order multiagent systems with a constant acceleration leader and time-varying delays. At first, a distributed control protocol for every agent to track the leader is proposed; then by utilizing the Lyapunov-Razumikhin function, the convergence analysis under both fixed and switching interconnection topologies is investigated. For the case of fixed topology, a sufficient and necessary condition is obtained, and for the case of switching topology, a sufficient condition is derived under some assumptions. Finally, simulation examples are provided to demonstrate the effectiveness of the theoretical results.

scholarly journals Distributed Adaptive Formation Tracking Control under Fixed and Switching Topologies: Application on General Linear Multi-Agent Systems

Symmetry ◽  
2021 ◽  
Vol 13 (6) ◽  
pp. 941
Author(s):  
Tianhao Sun ◽  
Huiying Liu ◽  
Yongming Yao ◽  
Tianyu Li ◽  
Zhibo Cheng
Keyword(s):  
Switching Topology ◽  
General Linear ◽  
Time Varying ◽  
Multi Agent System ◽  
Multi Agent Systems ◽  
Agent System ◽  
Switching Topologies ◽  
Formation Tracking ◽  
Leader Following ◽  
Multi Agent

In this paper, the time-varying formation tracking problem of the general linear multi-agent system is discussed. A distributed formation tracking protocol based on Riccati inequalities with adaptive coupling weights among the follower agents and the leader agent is designed for a leader-following multi-agent system under fixed and switching topologies. The formation configuration involved in this paper is expressed as a bounded piecewise continuously differentiable vector function. The follower agents will achieve the desired formation tracking trajectory of the leader. In traditional static protocols, the coupling weights depend on the communication topology and is a constant. However, in this paper, the coupling weights are updated by the state errors among the neighboring agents. Moreover, the stability analysis of the MAS under switching topology is presented, and proves that the followers also could achieve pre-specified time-varying formation, if the communication graph is jointly connected. Two numerical simulations indicate the capabilities of the algorithms.

Leader-following consensus of discrete-time multiagent systems with time-varying delay based on large delay theory

2017 ◽  
Vol 417 ◽  
pp. 236-246 ◽  
Author(s):  
Huiwei Liu ◽  
Hamid Reza Karimi ◽  
Shengli Du ◽  
Weiguo Xia ◽  
Chongquan Zhong
Keyword(s):  
Multiagent Systems ◽  
Discrete Time ◽  
Time Varying ◽  
Large Delay ◽  
Time Varying Delay ◽  
Leader Following ◽  
Varying Delay
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