Connectivity and set tracking of multi-agent systems guided by multiple moving leaders

Guodong Shi; Yiguang Hong; Karl Henrik Johansson

doi:10.1109/TAC.2011.2164733

Connectivity and set tracking of multi-agent systems guided by multiple moving leaders

Guodong Shi^*, Yiguang Hong, Karl Henrik Johansson

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

108 Citations (Scopus)

Abstract

In this paper, we investigate distributed multi-agent tracking of a convex set specified by multiple moving leaders with unmeasurable velocities. Various jointly connected interaction topologies of the follower agents with uncertainties are considered in the study of set tracking. Based on the connectivity of the time-varying multi-agent system, necessary and sufficient conditions are obtained for set input-to-state stability and set integral input-to-state stability for a nonlinear neighbor-based coordination rule with switching directed topologies. Conditions for asymptotic set tracking are also proposed with respect to the polytope spanned by the leaders.

Original language	English
Article number	5985484
Pages (from-to)	663-676
Number of pages	14
Journal	IEEE Transactions on Automatic Control
Volume	57
Issue number	3
DOIs	https://doi.org/10.1109/TAC.2011.2164733
Publication status	Published - Mar 2012
Externally published	Yes

Access to Document

10.1109/TAC.2011.2164733

Cite this

@article{f47a48bffd094481b8dbc4fc4482771c,

title = "Connectivity and set tracking of multi-agent systems guided by multiple moving leaders",

abstract = "In this paper, we investigate distributed multi-agent tracking of a convex set specified by multiple moving leaders with unmeasurable velocities. Various jointly connected interaction topologies of the follower agents with uncertainties are considered in the study of set tracking. Based on the connectivity of the time-varying multi-agent system, necessary and sufficient conditions are obtained for set input-to-state stability and set integral input-to-state stability for a nonlinear neighbor-based coordination rule with switching directed topologies. Conditions for asymptotic set tracking are also proposed with respect to the polytope spanned by the leaders.",

keywords = "Multi-agent systems, multiple leaders, set input-to-state stability (SISS), set integral input-to-state stability (SiISS), set tracking",

author = "Guodong Shi and Yiguang Hong and Johansson, {Karl Henrik}",

year = "2012",

month = mar,

doi = "10.1109/TAC.2011.2164733",

language = "English",

volume = "57",

pages = "663--676",

journal = "IEEE Transactions on Automatic Control",

issn = "0018-9286",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

number = "3",

}

TY - JOUR

T1 - Connectivity and set tracking of multi-agent systems guided by multiple moving leaders

AU - Shi, Guodong

AU - Hong, Yiguang

AU - Johansson, Karl Henrik

PY - 2012/3

Y1 - 2012/3

N2 - In this paper, we investigate distributed multi-agent tracking of a convex set specified by multiple moving leaders with unmeasurable velocities. Various jointly connected interaction topologies of the follower agents with uncertainties are considered in the study of set tracking. Based on the connectivity of the time-varying multi-agent system, necessary and sufficient conditions are obtained for set input-to-state stability and set integral input-to-state stability for a nonlinear neighbor-based coordination rule with switching directed topologies. Conditions for asymptotic set tracking are also proposed with respect to the polytope spanned by the leaders.

AB - In this paper, we investigate distributed multi-agent tracking of a convex set specified by multiple moving leaders with unmeasurable velocities. Various jointly connected interaction topologies of the follower agents with uncertainties are considered in the study of set tracking. Based on the connectivity of the time-varying multi-agent system, necessary and sufficient conditions are obtained for set input-to-state stability and set integral input-to-state stability for a nonlinear neighbor-based coordination rule with switching directed topologies. Conditions for asymptotic set tracking are also proposed with respect to the polytope spanned by the leaders.

KW - Multi-agent systems

KW - multiple leaders

KW - set input-to-state stability (SISS)

KW - set integral input-to-state stability (SiISS)

KW - set tracking

UR - http://www.scopus.com/inward/record.url?scp=84857761122&partnerID=8YFLogxK

U2 - 10.1109/TAC.2011.2164733

DO - 10.1109/TAC.2011.2164733

M3 - Article

SN - 0018-9286

VL - 57

SP - 663

EP - 676

JO - IEEE Transactions on Automatic Control

JF - IEEE Transactions on Automatic Control

IS - 3

M1 - 5985484

ER -

Connectivity and set tracking of multi-agent systems guided by multiple moving leaders

Abstract

Access to Document

Other files and links

Fingerprint

Cite this