Set tracking of multi-agent systems with variable topologies guided by moving multiple leaders

In this paper, we consider the distributed control of a group of autonomous agents to track the convex hull specified by multiple moving leaders maybe with unmeasurable velocities. Directed interconnection topologies of the follower agents are investigated for the set input-to-state stability (SISS) and set integral input-to-state stability (SiISS), and connectivity-based necessary and sufficient conditions are obtained. Then the tracking errors can be estimated between the agents with nonlinear neighbor-based coordination rules and the polytope spanned by the leaders with the help of SISS and SiISS.

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