Tracking control for multi-agent consensus with an active leader and variable topology
Preprint
- 3 May 2007
Abstract
In this paper, we consider the coordination control of a group of autonomous mobile agents with multiple leaders. Different interconnection topologies are investigated. At first, a necessary and sufficient condition is proved in the case of fixed interconnection topology. Then a sufficient condition is proposed when the interconnection topology is switched. With a simple first-order dynamics model by using the neighborhood rule, both results show that the group behavior of the agents will converge to the polytope formed by the leaders.Keywords
All Related Versions
- Version 1, 2007-05-03, ArXiv
- Published version: Automatica, 42 (7), 1177.
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