Observer-based leader-following tracking control under both fixed and switching topologies
Jinhuan WANG
Pengxiao ZHANG
Zhixin LIU
Xiaoming HU
摘要：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.
机标关键词：common Lyapunov functioncooperative controlhigher dimensionmethod of
资助基金：the National Natural Science Foundation of China()the National Natural Science Foundation of China(61203142)the National Natural Science Foundation of China(61304161)the Natural Science Foundation of Hebei Province()the Natural Science Foundation of Hebei Province( F2014202206)the Natural Science Foundation of Hebei Province( F2015202231)
论文发表日期：2016-01-01
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：11( 28-38 )
英文信息