Abstract
This paper considers a multi-agent tracking problem for a high-dimensional active leader and variable interconnection topology. The state of the leader not only keeps changing but also may not be measured. To estimate the state such a leader individually, a neighbor-based local controller together with a neighbor-based state-estimation rule is given for each autonomous agent. Then, the authors prove that, with the help of a constructed common Lyapunov function (CLF), each agent can track the active leader with unmeasurable states. Finally, the authors explicitly construct a CLF for an active leader with unknown periodic input for illustration.
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This research is supported in part by the National Natural Science Foundation of China under Grant Nos. 60874018, 60628302, and 60821091.
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Hong, Y., Wang, X. Multi-agent tracking of a high-dimensional active leader with switching topology. J Syst Sci Complex 22, 722–731 (2009). https://doi.org/10.1007/s11424-009-9197-z
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DOI: https://doi.org/10.1007/s11424-009-9197-z