Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
698146 | Automatica | 2008 | 5 Pages |
Abstract
This paper is concerned with a leader–follower problem for a multi-agent system with a switching interconnection topology. Distributed observers are designed for the second-order follower-agents, under the common assumption that the velocity of the active leader cannot be measured in real time. Some dynamic neighbor-based rules, consisting of distributed controllers and observers for the autonomous agents, are developed to keep updating the information of the leader. With the help of an explicitly constructed common Lyapunov function (CLF), it is proved that each agent can follow the active leader. Moreover, the tracking error is estimated even in a noisy environment. Finally, a numerical example is given for illustration.
Keywords
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Yiguang Hong, Guanrong Chen, Linda Bushnell,