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

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Abstract

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.

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Author information

Authors and Affiliations

  1. School of Sciences, Hebei University of Technology, Tianjin, 300130, China

    Jinhuan Wang & Pengxiao Zhang

  2. Key Laboratory of Systems and Control, Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing, 100190, China

    Zhixin Liu

  3. Optimization and Systems Theory and ACCESS Linnaeus Center, Royal Institute of Technology, Stockholm, 100 44, Sweden

    Xiaoming Hu

Authors
  1. Jinhuan Wang
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  2. Pengxiao Zhang
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  3. Zhixin Liu
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  4. Xiaoming Hu
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Corresponding author

Correspondence to Xiaoming Hu.

Additional information

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).

Jinhuan WANG was born in 1980 in Shandong Province, China. She received the B.Sc. and M.Sc. degrees from School of Mathematical Sciences, Shandong Normal University, in 2002 and 2005, respectively, and the Ph.D. degree from Academy of Mathematics and Systems Science, Chinese Academy of Sciences in 2008. She is currently an associate professor of School of Sciences, Hebei University of Technology. Her research interests include complex systems control and switched systems.

Pengxiao ZHANG was born in 1992 in Hebei Province, China. She received the B.Sc. degree in Mathematics from Tianjin Normal University in 2014. She is currently a postgraduate student in Hebei University of Technology. Her research interest is multi-agent systems.

Zhixin LIU was born in China in 1979. She received the B.Sc. degree in Mathematics from Shandong University, in 2002, and the Ph.D. degree in Control Theory from Academy of Mathematics and Systems Science (AMSS), Chinese Academy of Sciences (CAS) in 2007. She is currently an associate professor of AMSS, CAS. From February 2009 to April 2009, she was with Royal Institute of Technology, Sweden, as a visiting researcher. Her current research interests are complex systems and multi-agent systems.

Xiaoming HU was born in Chengdu, China, in 1961. He received the B.Sc. degree from University of Science and Technology of China in 1983. He received the M.Sc. and Ph.D. degrees from Arizona State University, in 1986 and 1989, respectively. He served as a research assistant at the Institute of Automation, the Chinese Academy of Sciences, from 1983 to 1984. From 1989 to 1990 he was a Gustafsson Postdoctoral Fellow at the Royal Institute of Technology, Stockholm, where he is currently a full professor of Optimization and Systems Theory, and a vice director of the Center for Autonomous Systems. He is leading or participating in many research projects sponsored by EU, the Swedish Research Council, the Swedish Strategic Research Foundation, and the Swedish Defense Institute. His main research interests are in nonlinear control systems, nonlinear observer design, sensing and active perception, motion planning, control of multi-agent systems, and mobile manipulation.

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Wang, J., Zhang, P., Liu, Z. et al. Observer-based leader-following tracking control under both fixed and switching topologies. Control Theory Technol. 14, 28–38 (2016). https://doi.org/10.1007/s11768-016-5121-y

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  • DOI: https://doi.org/10.1007/s11768-016-5121-y

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