Tracking Control for Multi-agent Consensus for Discrete-time Case

摘要：

In this paper, we consider the leader-following consensus problem of a group of autonomous agents with discrete-time model. The velocity of the active leader is assumed to be unknown in real time. To track the active leader, a neighbor-based local control law and a neighbor-based stateestimation rule for each autonomous agent was provided. By using the graph theory, matrix theory and Lyapunov function method, some suf.cient conditions are established for the consensus stability of the considered systems under fixed topology case and switching topology case respectively. Finally, numerical simulations are given to show the effectiveness of our theoretical results.

关键词： Multi-agent system Discrete-time system Swicth System Consensus problem Lyapunov function method

作者: Fang Wang Lixin Gao Liyong Wang

作者单位: Institute of Operations Research and Control Sciences, Wenzhou University,Zhejiang 325035,China

会议类型: 国际会议

会议名称: 2011 China Control and Decision Conference(2011中国控制与决策会议 CCDC)

会议地点: 四川绵阳

会议语种:英文

页码: 923-928

在线出版日期: 2011-05-23（万方平台首次上网日期，不代表论文的发表时间）