Leader-Following Control of Multi-agent Consensus for a Discrete-Time Case

This paper considers the consensus of the leaderfollowing systems with a discrete-time model. The velocity of the active leader is unknown in real time. This paper designs the control laws and observers based on the neighbors to solve the consensus problem. The Lyapunov approach has played an important role in the leader-following systems. It is shown that all agents asymptotically move with the same velocity and position. Moreover, it is also proved that each follower can track the active leader in a noisy-free environment, and the tracking error is estimated in a noisy environment.

[1]  Kevin M. Passino,et al.  Stability analysis of swarms , 2002, Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301).

[2]  Tianguang Chu,et al.  Self-organized motion in anisotropic swarms , 2003 .

[3]  Jiangping Hu,et al.  Tracking control for multi-agent consensus with an active leader and variable topology , 2006, Autom..

[4]  Long Wang,et al.  Virtual Leader Approach to Coordinated Control of Multiple Mobile Agents with Asymmetric Interactions , 2005, Proceedings of the 44th IEEE Conference on Decision and Control.

[5]  Long Wang,et al.  Flocking of Multi-Agent Systems with a Virtual Leader , 2007, 2007 IEEE Symposium on Artificial Life.

[6]  Tianguang Chu,et al.  Collective motion of a class of social foraging swarms , 2008 .

[7]  Zhengquan Yang,et al.  Tracking control for multi-agent consensus with an active leader and directed topology , 2008, 2008 7th World Congress on Intelligent Control and Automation.

[8]  Yiguang Hong,et al.  Distributed Observers Design for Leader-Following Control of Multi-Agent Networks (Extended Version) , 2017, 1801.00258.

[9]  Guangming Xie,et al.  Controllability of a Leader–Follower Dynamic Network With Switching Topology , 2008, IEEE Transactions on Automatic Control.

[10]  Long Wang,et al.  Complex emergent dynamics of anisotropic swarms: Convergence vs oscillation , 2006 .

[11]  Wang Long,et al.  Swarm Dynamics of a Group of Mobile Autonomous Agents , 2005 .

[12]  George J. Pappas,et al.  Stable flocking of mobile agents, part I: fixed topology , 2003, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475).

[13]  Charles R. Johnson,et al.  Matrix analysis , 1985, Statistical Inference for Engineers and Data Scientists.

[14]  E. Yaz.  Linear Matrix Inequalities In System And Control Theory , 1998, Proceedings of the IEEE.

[15]  Zongli Lin,et al.  Flocking of Multi-Agents With a Virtual Leader , 2009, IEEE Transactions on Automatic Control.

[16]  Jie Lin,et al.  Coordination of groups of mobile autonomous agents using nearest neighbor rules , 2003, IEEE Trans. Autom. Control..

[17]  K.M. Passino,et al.  Stability analysis of social foraging swarms , 2004, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[18]  Long Wang,et al.  Stability and Oscillation of Swarm With Interaction Time Delays , 2007, 2007 American Control Conference.

[19]  Long Wang,et al.  Swarming behavior of multi-agent systems , 2004, math/0405405.

[20]  Stephen P. Boyd,et al.  Linear Matrix Inequalities in Systems and Control Theory , 1994 .

[21]  K. Warburton,et al.  Tendency-distance models of social cohesion in animal groups. , 1991, Journal of Theoretical Biology.

[22]  Chen Zengqiang,et al.  A tracking control scheme for leader based multi-agent consensus for discrete-time case , 2008, 2008 27th Chinese Control Conference.