Connectivity Maintenance and Collective Consensus for Multi-Agent System with an Active Leader

摘要：

In this paper,we study a leader-following consensus problem with an active leader and distance-determinant topology. In the scenario we consider,only the leader has the information of the desired motion,and only the followers located within a sensing zone can access to the information of the leader.To reach a desired global consensus,a neighbor-based local controller is developed for the followers.We prove that,under some initial conditions,the proposed control scheme can enable the followers to maintain connectivity,avoid collision,and track the varying-velocity leader.Simulations are also presented to illustrate the theoretical results.

作者: WANG Lin WANG Xiaofan HU Xiaoming

作者单位: Department of Automation,Shanghai Jiao Tong University,Shanghai 200240,P.R.China Optimization and Systems Theory,Royal Institute of Technology,Stockholm,Sweden SE-100 44

会议类型: 国际会议

会议名称: The 30th Chinese Control Conference(第三十届中国控制会议)

会议地点: 烟台

会议语种:英文

页码: 1-5

在线出版日期: 2011-07-01（万方平台首次上网日期，不代表论文的发表时间）