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Tracking control for multi-agent systems with active leader


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Tracking control for multi-agent systems with active leader
Feng Yuanzhen12Xu Shengyuan1Miao Guoying1
1.School of Automation,NUST,Nanjing 210094,China; 2.Department of Basic Science,Nanjing College for Population Program Management,Nanjing 210042,China
active leader multi-agent systems tracking control Lyapunov function directed topology
To reduce the conservativeness,the tracking control problems for a class of multi-agent systems with an active leader are considered when the directed topologies are fixed and switching respectively.Nearest-neighbor based control law is proposed and state observer is constructed to realize tracking control.In both fixed and switching cases,by using parameter-dependent Lyapunov functions,sufficient conditions are derived for realizing tracking control and upper bounds of tracking errors are estimated when the acceleration information of the leader is unknown.For the case of fixed topology,necessary and sufficient conditions are given when the acceleration information of the leader is known.Numerical examples demonstrate the effectiveness of relevant results.


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Last Update: 2013-03-25