Tracking control for multi-agent consensus with an active leader and variable topology

By Yiguang Hong, Jiangping Hu, Lixin Gao. at - Automatisierungstechnik, 2006

2,050 citations recorded by the source corpus.

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.

Subfields: Computer Networks and Communications, Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/44a859dbe6468da0845e57c66815e733f80ef814

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In Computer Networks and Communications

In Control and Systems Engineering

Citations in the corpus

Distributed Coordinated Tracking With a Dynamic Leader for Multiple Euler-Lagrange Systems (2011, background): “Comparison with existing work in the literature: In contrast to the coordinated tracking algorithms for first- and second-order linear dynamics [6]–[9], we consider the nonlinear Euler–Lagrange systems.”
Consensus of multi‐agent systems with nonlinear dynamics and sampled‐data information: a delayed‐input approach (2013, background): “Consensus tracking control of multi-agent systems with an active leader was investigated in [11, 12].”
Leader‐following control for multiple inertial agents (2011, background): “The work in [11, 12] considered a multi-agent consensus problem with an active leader and variable interaction topology.”
Distributed tracking control of leader-follower multi-agent systems under noisy measurement (2011, background): “It is noted that since only the relative noisy position measurements z ij ( t ) can be used for the i th follower, the construction of a distributed estimator and controller turns out to be much more challenging than that in Hong , Hu , &Gao (2006).”
Robust consensus tracking of a class of second-order multi-agent dynamic systems (2010, background): “Lemma 3: [8] If the undirected graph G1 is connected and at least one agent has access to the desired trajectory, then the symmetric matrix K , defined as K = O + E, is positive definite.”
Event-Based Finite-Time Control for Nonlinear Multiagent Systems With Asymptotic Tracking (2023, background): “…control of MASs, consensus tracking (leader–follower consensus) has been extensively studied owing to its applications in ﬂocking of social insects, cooperative control of unmanned aerial vehicles, spacecraft coordination, sensor networks and robot formation [4], [5], [6], [7], [8], [9].”
Optimal Design for Synchronization of Cooperative Systems: State Feedback, Observer and Output Feedback (2011, background): “This is also known as cooperative tracking control [9], synchronization to a leader, pinning control [10], [11], or model reference consensus [12].”
Distributed Adaptive Tracking Control for Synchronization of Unknown Networked Lagrangian Systems (2011, background): “The synchronization of the systems in a leader-following configuration can be considered as a tracking problem where the desired trajectory is given by the leader (see, for example, the second-order systems [12], [13] and the high-order systems [10]).”
Consensus in networked multi-agent systems via sampled control: Switching topology case (2009, background): “Some other interesting results can be seen in [27], [28], [29], [30] and so on.”
Distributed Containment Control for Multiple Autonomous Vehicles With Double-Integrator Dynamics: Algorithms and Experiments (2011, methodology): “However, [14] and [15] require the availability of the leader’s acceleration input to all followers and/or the design of distributed observers.”
A Distributed Control Approach to A Robust Output Regulation Problem for Multi-Agent Linear Systems (2010, background): “Control of a group of subsystems called agents has been an active and important area, and distributed control has become a successful strategy to handle such design issues as stabilization, formation control, and output regulation of multi-agent systems [5], [7], [9], [11], [13]–[15].”
Containment of Higher-Order Multi-Leader Multi-Agent Systems: A Dynamic Output Approach (2016, methodology): “In [16] and [17], a local controller together with a neighbor-based state-estimation rule were designed to solve the consensus tracking problem with a dynamic leader.”