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Leader-following consensus problem with an accelerated motion leader

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Abstract

In this paper, we consider a multi-agent consensus problem with an accelerated motion leader and variable interconnection topology. To track such a leader, a neighbor-based local controller together with a neighbor-based state-estimation rule is proposed for each second-order follower-agent. The neighbor-based estimation rule is used to estimate the acceleration of the leader, which is assumed not to be measured by follower agents directly. By constructing a parameter-dependent common Lyapunov function, a sufficient condition is established to guarantee that each agent can follow the leader although the leader moves with an unknown time-variant acceleration. Moreover, the tracking error is estimated for the case that the unknown acceleration part of the leader has bounded derivative. Finally, a numerical example is given to illustrate the obtained result.

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Authors and Affiliations

  1. Institute of Intelligent Systems and Decision, Wenzhou University, Zhejiang, 325027, China

    Lixin Gao, Xinjian Zhu & Wenhai Chen

Authors
  1. Lixin Gao
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  2. Xinjian Zhu
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  3. Wenhai Chen
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Corresponding author

Correspondence to Lixin Gao.

Additional information

Recommended by Editorial Board member Yuan Fang Zheng under the direction of Editor Zengqi Sun.

This work was supported by the NNSF of China under Grant No 61074123, 61174063, 60674071.

Lixin Gao received his M.S. degree in Mathematics from East China Normal University, China in 1994, and his Ph.D. degree in Automatic Control from Zhejiang University, China in 2003. He is currently a professor in Wenzhou University, China. He was a Postdoctoral Research Associate in Institute of Systems Science, Chinese Academy of Sciences from 2004 to 2006. His research interests include robust control, multi-agent systems, intelligent computation, numerical analysis.

Xinjian Zhu received his B.S. degree in Mathematics and Applied Mathematics from Southwest University, China in 2008 and his M.S. degree in Applied Mathematics from Wenzhou University, China in 2012. He is currently a Ph.D. student at Zhejiang University, China. His main research interests are multiagent systems, hybrid systems.

Wenhai Chen received his B.S. degree in Applied Mathematics from Fudan University, China in 1990, and his M.S. degree in Operations Research and Control Theory from Zhejiang University, China in 2003. He is currently an associate professor in Wenzhou University, China. His research interests include multi-agent systems, pattern recognition.

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Gao, L., Zhu, X. & Chen, W. Leader-following consensus problem with an accelerated motion leader. Int. J. Control Autom. Syst. 10, 931–939 (2012). https://doi.org/10.1007/s12555-012-0509-z

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  • DOI: https://doi.org/10.1007/s12555-012-0509-z

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