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Consensus of Linear Multi-agent Systems with a Smart Leader

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Proceedings of 2018 Chinese Intelligent Systems Conference

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 528))

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Abstract

This paper addresses the consensus problem with linear systems via a smart leader under directed topology. The smart leader tracks a given reference model and a control function is constructed to control the smart leader. The smart leader can utilize its neighboring followers’ feedback information when the control function meet certain condition, which can effectively reduce the leader’s controller cost and the tracking error among the leader and followers. By utilizing the relative output message of neighboring agents, a reduced-order observer is adopted under the assumption that the directed topology have a directed spanning tree. A sufficient condition is given to guarantee that the leader-following system can achieve consensus. Finally, simulation examples are given to demonstrate the effectiveness of the obtained results.

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Acknowledgements

This work is supported by the National Natural Science Foundation of China (Grant Nos. 61573200, 61573199).

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Authors and Affiliations

  1. College of Computer and Control Engineering, Nankai University, Tianjin, China

    Yangbo Li, Hui Liu, Zhongxin Liu & Zengqiang Chen

  2. Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China

    Yangbo Li, Hui Liu, Zhongxin Liu & Zengqiang Chen

Authors
  1. Yangbo Li
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  2. Hui Liu
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  3. Zhongxin Liu
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  4. Zengqiang Chen
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Corresponding author

Correspondence to Zhongxin Liu .

Editor information

Editors and Affiliations

  1. Beihang University, Beijing, China

    Yingmin Jia

  2. Beijing University of Posts and Telecommunications, Beijing, China

    Junping Du

  3. University of Science and Technology Beijing, Beijing, China

    Weicun Zhang

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Li, Y., Liu, H., Liu, Z., Chen, Z. (2019). Consensus of Linear Multi-agent Systems with a Smart Leader. In: Jia, Y., Du, J., Zhang, W. (eds) Proceedings of 2018 Chinese Intelligent Systems Conference. Lecture Notes in Electrical Engineering, vol 528. Springer, Singapore. https://doi.org/10.1007/978-981-13-2288-4_76

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