8,933 research outputs found
High-Order Leader-Follower Tracking Control under Limited Information Availability
Limited information availability represents a fundamental challenge for
control of multi-agent systems, since an agent often lacks sensing capabilities
to measure certain states of its own and can exchange data only with its
neighbors. The challenge becomes even greater when agents are governed by
high-order dynamics. The present work is motivated to conduct control design
for linear and nonlinear high-order leader-follower multi-agent systems in a
context where only the first state of an agent is measured. To address this
open challenge, we develop novel distributed observers to enable followers to
reconstruct unmeasured or unknown quantities about themselves and the leader
and on such a basis, build observer-based tracking control approaches. We
analyze the convergence properties of the proposed approaches and validate
their performance through simulation
Observer-based Leader-following Consensus for Positive Multi-agent Systems Over Time-varying Graphs
This paper addresses the leader-following consensus problem for discrete-time
positive multi-agent systems over time-varying graphs. We assume that the
followers may have mutually different positive dynamics which can also be
different from the leader. Compared with most existing positive consensus works
for homogeneous multi-agent systems, the formulated problem is more general and
challenging due to the interplay between the positivity requirement and
high-order heterogeneous dynamics. To solve the problem, we present an extended
version of existing observer-based design for positive multi-agent systems. By
virtue of the common quadratic Lyapunov function technique, we show the
followers will maintain their state variables in the positive orthant and
finally achieve an output consensus specified by the leader. A numerical
example is used to verify the efficacy of our algorithms
Comprehensive review on controller for leader-follower robotic system
985-1007This paper presents a comprehensive review of the leader-follower robotics system. The aim of this paper is to find and elaborate on the current trends in the swarm robotic system, leader-follower, and multi-agent system. Another part of this review will focus on finding the trend of controller utilized by previous researchers in the leader-follower system. The controller that is commonly applied by the researchers is mostly adaptive and non-linear controllers. The paper also explores the subject of study or system used during the research which normally employs multi-robot, multi-agent, space flying, reconfigurable system, multi-legs system or unmanned system. Another aspect of this paper concentrates on the topology employed by the researchers when they conducted simulation or experimental studies
- …