TY - JOUR
T1 - Second-order tracking control for leader-follower multi-agent flocking in directed graphs with switching topology
AU - Guo, Wanli
AU - Lü, Jinhu
AU - Chen, Shihua
AU - Yu, Xinghuo
PY - 2011/12
Y1 - 2011/12
N2 - This paper investigates the flocking problem for leaderfollower multi-agent systems in directed graphs with switching topology. A decentralized state control rule, namely, a second-order protocol, is designed for each agent to track the leader. And it is proved that the proposed control scheme can effectively estimate the tracking error of each agent when the leader is active. Particularly, to ensure the tracking error can be estimated, the following two questions are solved: (1) How many agents are needed to connect to the leader? (2) How should these connections be distributed? Finally, a simple example is also given to verify the effectiveness of the proposed theorems.
AB - This paper investigates the flocking problem for leaderfollower multi-agent systems in directed graphs with switching topology. A decentralized state control rule, namely, a second-order protocol, is designed for each agent to track the leader. And it is proved that the proposed control scheme can effectively estimate the tracking error of each agent when the leader is active. Particularly, to ensure the tracking error can be estimated, the following two questions are solved: (1) How many agents are needed to connect to the leader? (2) How should these connections be distributed? Finally, a simple example is also given to verify the effectiveness of the proposed theorems.
KW - Directed graphs
KW - Flocking problem
KW - Leaderfollower multi-agent systems
KW - Second-order protocol
KW - Switching topology
UR - https://www.scopus.com/pages/publications/80054874853
U2 - 10.1016/j.sysconle.2011.09.020
DO - 10.1016/j.sysconle.2011.09.020
M3 - 文章
AN - SCOPUS:80054874853
SN - 0167-6911
VL - 60
SP - 1051
EP - 1058
JO - Systems and Control Letters
JF - Systems and Control Letters
IS - 12
ER -