TY - GEN
T1 - Coordination of nonlinear multi-agent systems with multiple leaders and switching topologies
AU - Shi, Guodong
AU - Hong, Yiguang
PY - 2010
Y1 - 2010
N2 - In this paper, we consider the coordination control of a group of autonomous agents to track the convex set determined by multiple moving leaders with unmeasurable velocities. Directed interconnection topologies of the follower agents are investigated for the convergence with the help of convex analysis and non-smooth analysis. With the nonlinear neighbor-based coordination rule, the tracking errors between the agents and the set formed by the leaders can be estimated even with uniformly jointly connected topology. Index Terms - Multi-agent systems, multiple leaders, switching topology, convex set.
AB - In this paper, we consider the coordination control of a group of autonomous agents to track the convex set determined by multiple moving leaders with unmeasurable velocities. Directed interconnection topologies of the follower agents are investigated for the convergence with the help of convex analysis and non-smooth analysis. With the nonlinear neighbor-based coordination rule, the tracking errors between the agents and the set formed by the leaders can be estimated even with uniformly jointly connected topology. Index Terms - Multi-agent systems, multiple leaders, switching topology, convex set.
UR - http://www.scopus.com/inward/record.url?scp=77957886216&partnerID=8YFLogxK
U2 - 10.1109/ICCA.2010.5524228
DO - 10.1109/ICCA.2010.5524228
M3 - Conference contribution
SN - 9781424451951
T3 - 2010 8th IEEE International Conference on Control and Automation, ICCA 2010
SP - 2030
EP - 2035
BT - 2010 8th IEEE International Conference on Control and Automation, ICCA 2010
T2 - 2010 8th IEEE International Conference on Control and Automation, ICCA 2010
Y2 - 9 June 2010 through 11 June 2010
ER -