Distributed Observers Design for Leader-Following Control of Multi-Agent Networks (Extended Version)

By Yiguang Hong, Guanrong Chen, Linda G. Bushnell. 2017

758 citations recorded by the source corpus.

This paper is concerned with a leader-follower problem for a multi-agent system with a switching interconnection topology. Distributed observers are designed for the second-order follower-agents, under the common assumption that the velocity of the active leader cannot be measured in real time. Some dynamic neighbor-based rules, consisting of distributed controllers and observers for the autonomous agents, are developed to keep updating the information of the leader. With the help of an explicitly constructed common Lyapunov function (CLF), it is proved that each agent can follow the active leader. Moreover, the tracking error is estimated even in a noisy environment. Finally, a numerical example is given for illustration.

View Paper: https://www.semanticscholar.org/paper/6a6cb8efe6fc0acce81fcc4046805d5a20a9acb8

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

1. Wenwu Yu
2. Guanrong Chen
3. Wei Ren
4. Xiwang Dong
5. Zhongkui Li
6. Yongcan Cao
7. Guanghui Wen
8. Guoxing Wen

Citations in the corpus

• Designing Fully Distributed Consensus Protocols for Linear Multi-Agent Systems With Directed Graphs (2013, background): “Due to its potential applications in several areas such as spacecraft formation flying, sensor networks, and cooperative surveillance [1], the consensus control problem has been addressed by many researchers from various perspectives; see [1], [2], [3], [4], [5] and the references therein.”
• Consensus of Data-Sampled Multi-Agent Systems With Random Communication Delay and Packet Loss (2010, methodology): “For the case of arbitrary switching topology, the stochastic matrix analysis method applied in [1]–[7] cannot be applicable, and the topology is required to be instantaneously connected ([13]–[15]).”
• Observer-Based Adaptive Backstepping Consensus Tracking Control for High-Order Nonlinear Semi-Strict-Feedback Multiagent Systems (2016, background): “Although observerbased adaptive control techniques have been explored in nonlinear tracking control and consensus control of secondorder linear multiagents [35], [36], the approaches have not been discussed in consensus control of high-order nonlinear multiagent systems because of the difficulty in ”
• Consensus of multi-agent systems with intrinsic nonlinear dynamics and sampled-data information (2011, background): “Consensus tracking control for multi-agent systems with an active leader was investigated in [7], [8].”
• A new observer-type consensus protocol for linear multi-agent dynamical systems (2011, methodology): “In [15], a local controller together with a neighbor-based stateestimation rule was designed to solve the tracking control problem of second-order multi-agent systems with an active leader.”
• 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.”
• Neural-Network-Based Event-Triggered Adaptive Control of Nonaffine Nonlinear Multiagent Systems With Dynamic Uncertainties (2020, background): “Based on neighbor state estimators, Hong et al. [8] studied the distributed consensus tracking control problem for the multiagent subject to an active leader.”
• Containment analysis and design for high-order linear time-invariant singular swarm systems with time delays (2012, background): “In [8] and [9], consensus tracking problems were discussed for secondorder swarm systems with switching interaction topologies.”