Leader-following consensus for multi-agent systems via sampled-data control
Leader-following consensus for multi-agent systems via sampled-data control
- Author(s): Z.-J. Tang ; T.-Z. Huang ; J.-L. Shao ; J.-P. Hu
- DOI: 10.1049/iet-cta.2010.0653
For access to this article, please select a purchase option:
Buy article PDF
Buy Knowledge Pack
IET members benefit from discounts to all IET publications and free access to E&T Magazine. If you are an IET member, log in to your account and the discounts will automatically be applied.
Thank you
Your recommendation has been sent to your librarian.
- Author(s): Z.-J. Tang 1, 2 ; T.-Z. Huang 1 ; J.-L. Shao 1 ; J.-P. Hu 3
-
-
View affiliations
-
Affiliations:
1: School of Mathematical Sciences, University of Electronic Science and Technology of China, Chengdu, People's Republic of China
2: School of Science, Chongqing Jiaotong University, Chongqing, People's Republic of China
3: School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, People's Republic of China
-
Affiliations:
1: School of Mathematical Sciences, University of Electronic Science and Technology of China, Chengdu, People's Republic of China
- Source:
Volume 5, Issue 14,
22 September 2011,
p.
1658 – 1665
DOI: 10.1049/iet-cta.2010.0653 , Print ISSN 1751-8644, Online ISSN 1751-8652
In this article, the authors study a leader-following consensus problem for multi-agent systems in a sampled-data setting. A distributed coordination algorithm based on sampled-data control is proposed to track the considered leader. By employing M-matrix theory, the authors derive sufficient conditions on the sampling period and control parameters to ensure that the tracking errors are bounded. Numerical simulations are presented to illustrate the effectiveness of the theoretical results. Moreover, some previous results concerning the leader-following problem with switched coupling topology are improved.
Inspec keywords: tracking; distributed algorithms; topology; multi-agent systems; matrix algebra; sampled data systems
Other keywords:
Subjects: Parallel programming and algorithm theory; Combinatorial mathematics; Artificial intelligence (theory); Discrete control systems; Algebra
References
-
-
1)
- A. Jadbabaie , J. Lin , A.S. Morse . Coordination of groups of mobile autonomous agents using nearest neighbor rules. IEEE Trans. Autom. Control , 6 , 988 - 1001
-
2)
- Y. Hong , J. Hu , L. Gao . Tracking control for multi-agent consensus with an active leader and variable topology. Automatica , 7 , 1177 - 1182
-
3)
- R. Olfati-Saber . Flocking for multi-agent dynamic systems: algorithms and theory. IEEE Trans. Autom. Control , 3 , 401 - 420
-
4)
- K. Peng , Y. Yang . Leader-following consensus problem with a varying-velocity leader and time-varying delays. Physica A , 193 - 208
-
5)
- J. Shao , G. Xie , L. Wang . Leader-following formation control of multiple mobile vehicles. IET Control Theory Appl. , 2 , 545 - 552
-
6)
- P.N. Shivakumar , J.J. Williams , Q. Ye , C.A. Marinov . On two-sided bounds related to weakly diagonally dominant M-matrices with application to digital circuit dynamics. SIAM J. Matrix Anal. Appl. , 298 - 312
-
7)
- Olfati-Saber, R., Shamma, J.S.: `Consensus filters for sensor networks and distributed sensor fusion', Proc. 44th IEEE Conf. Decision and Control, 2005, p. 6698–6703.
-
8)
- E. Frank . On the zeros of polynomials with complex coefficients. Bull. Amer. Math. Soc. , 2 , 144 - 157
-
9)
- Y. Cao , W. Ren . Sampled-data discrete-time coordination algorithms for double-integrator dynamics under dynamic directed interaction. Int. J. Control , 3 , 506 - 515
-
10)
- R. Olfati-Saber , J.A. Fax , R.M. Murray . Consensus and cooperation in networked multi-agent systems. Proc. IEEE. , 1 , 215 - 233
-
11)
- W. Ren , R.W. Beard , E.M. Atkins . Information consensus in multivehicle cooperative control. IEEE Control Syst. Mag. , 2 , 71 - 82
-
12)
- J. Hu , G. Feng . Distributed tracking control of leader-follower multi-agent systems undernoisy measurement. Automatica , 1382 - 1387
-
13)
- Olfati-Saber, R., Murray, R.M.: `Distributed cooperative control of multiple vehicle formations using structural potential functions', Proc. 15th IFAC World Congress, 2002, p. 1–7.
-
14)
- Tanner, H.G., Jadbabaie, A., Pappas, G.J.: `Stable flocking of mobile agents, part I: fixed topology', Proc. 42nd IEEE Conf. Decision and Control, 2004, p. 2016–2021.
-
15)
- F.R. Gantmacher . (2000) The theory of matrices.
-
16)
- J. Hu , Y. Hong . Leader-following coordination of multi-agent systems with coupling time delays. Physica A , 2 , 853 - 863
-
17)
- T.Z. Huang , Y. Zhu . Estimation of ‖A−1‖∞ for weakly chained diagonally dominant M-matrices. Linear Algebra Appl. , 670 - 677
-
18)
- H. Liu , G. Xie , L. Wang . Necessary and sufficient conditions for solving consensus problems of double-integrator dynamics via sampled control. Int. J. Robust Nonlinear Control , 15 , 1706 - 1722
-
19)
- Hayakawa, T., Matsuzawa, T., Hara, S.: `Formation control of multi-agent systems with sampled information – relationship between information exchange structure and control performance', Proc. 45th Conf. IEEE Conf. Decision and Control, 2006, p. 4333–4338.
-
20)
- R.A. Horn , C.R. Johnson . (1991) Topics in matrix analysis.
-
21)
- Y. Hong , G. Chen , L. Bushnell . Distributed observers design for leader-following control of multi-agent networks. Automatica , 3 , 846 - 850
-
22)
- Lin, J., Morse, A.S., Anderson, B.D.O.: `The multi-agent Rendezvous problem', Proc. 42nd Conf. Decision and Control, 2003, p. 1508–1513.
-
23)
- A. Berman , R.J. Plemmons . (1994) Nonnegative matrices in the mathematical sciences.
-
24)
- D.V. Dimarogonas , P. Tsiotras , K.J. Kyriakopoulos . Leader-follower cooperative attitude control of multiple rigid bodies. Syst. Control Lett. , 6 , 429 - 435
-
25)
- Y. Cao , W. Ren , Y. Li . Distributed discrete-time coordinated tracking with a time-varying reference state and limited communication. Automatica , 5 , 1299 - 1305
-
26)
- J.A. Fax , R.M. Murray . Information flow and cooperative control of vehicle formations. IEEE Trans. Autom. Control , 9 , 1465 - 1476
-
27)
- L. Consolini , F. Morbidi , D. Prattichizzo , M. Tosques . Leader-follower formation control of nonholonomic mobile robots with input constraints. Automatica , 5 , 1343 - 1349
-
28)
- Y. Gao , L. Wang . Consensus of multiple dynamic agents with sampled information. IET Control Theory Appl. , 6 , 945 - 956
-
1)