Observer-based leader-following tracking control under both fixed and switching topologies  

作　　者：Jinhuan WANG Pengxiao ZHANG Zhixin LIU Xiaoming HU 

机构地区：[1]School of Sciences, Hebei University of Technology, Tianfin 300130, China [2].Key Laboratory of Systems and Control, Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing 100190, China [3]Optimization and Systems Theory and ACCESS Linnaeus Center, Royal Institute of Technology, Stockholm 100 44, Sweden

出　　处：《Control Theory and Technology》2016年第1期28-38,共11页控制理论与技术（英文版）

基　　金：This work was supported by the National Natural Science Foundation of China （Nos. 61203142, 61304161 ）, the Natural Science Foundation of Hebei Province （Nos. F2014202206, F2015202231 ）.

摘　　要：This paper studies the tracking problem for a class of leader-follower multi-agent systems moving on the plane using observer- based cooperative control strategies. In our set-up, only a subset of the followers can obtain some relative information on the leader. We assume that the control input of the leader is not known to any of the followers while the system matrix is broadcast to all the followers. To track such a leader, an observer-based decentralized feedback controller is designed for each follower and detailed analysis for the convergence is presented for both fixed and switching interaction topologies between agents with the method of common Lyapunov function. We can also generalize the result to the higher dimension case for fixed topology and some special system matrices of the leader for switching topology.This paper studies the tracking problem for a class of leader-follower multi-agent systems moving on the plane using observer- based cooperative control strategies. In our set-up, only a subset of the followers can obtain some relative information on the leader. We assume that the control input of the leader is not known to any of the followers while the system matrix is broadcast to all the followers. To track such a leader, an observer-based decentralized feedback controller is designed for each follower and detailed analysis for the convergence is presented for both fixed and switching interaction topologies between agents with the method of common Lyapunov function. We can also generalize the result to the higher dimension case for fixed topology and some special system matrices of the leader for switching topology.

关 键 词：Multi-agent systems leader-following decentralized control OBSERVER 

分 类 号：TP393.1[自动化与计算机技术—计算机应用技术] TP273[自动化与计算机技术—计算机科学与技术]