Tracking control for multi-agent consensus with an active leader and variable topology
arXiv:0705.0403 · doi:10.1016/j.automatica.2006.02.013
Abstract
In this paper, we consider the coordination control of a group of autonomous mobile agents with multiple leaders. Different interconnection topologies are investigated. At first, a necessary and sufficient condition is proved in the case of fixed interconnection topology. Then a sufficient condition is proposed when the interconnection topology is switched. With a simple first-order dynamics model by using the neighborhood rule, both results show that the group behavior of the agents will converge to the polytope formed by the leaders.
6 pages
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