Distributed Leader Following of an Active Leader for Linear Heterogeneous Multi-Agent Systems
| Autor: | Yi-Fan Chung, Solmaz S. Kia |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: |
FOS: Computer and information sciences
0209 industrial biotechnology Offset (computer science) Finite-time synchronization General Computer Science Computer science Formation 02 engineering and technology Network topology Topology Leader following LTI system theory 020901 industrial engineering & automation 0202 electrical engineering electronic engineering information engineering Computer Science - Multiagent Systems Electrical and Electronic Engineering Leader-following Multi-agent system Applied Mathematics Mechanical Engineering 020208 electrical & electronic engineering Multi-agent systems Directed acyclic graph Industrial Engineering & Automation Control and Systems Engineering Distributed algorithm Graph (abstract data type) Specified-time synchronization Minimum energy control Multiagent Systems (cs.MA) cs.MA |
| Popis: | This paper considers a leader-following problem for a group of heterogeneous linear time invariant (LTI) followers that are interacting over a directed acyclic graph. Only a subset of the followers has access to the state of the leader in specific sampling times. The dynamics of the leader that generates its sampled states is unknown to the followers. For interaction topologies in which the leader is a global sink in the graph, we propose a distributed algorithm that allows the followers to arrive at the sampled state of the leader by the time the next sample arrives. Our algorithm is a practical solution for a leader-following problem when there is no information available about the state of the leader except its instantaneous value at the sampling times. Our algorithm also allows the followers to track the sampled state of the leader with a locally chosen offset that can be time-varying. When the followers are mobile agents whose state or part of their state is their position vector, the offset mechanism can be used to enable the followers to form a transnational invariant formation about the sampled state of the leader. We prove that the control input of the followers to take them from one sampled state to the next one is minimum energy. We also show in case of the homogeneous followers, after the first sampling epoch the states and inputs of all the followers are synchronized with each other. Numerical examples demonstrate our results. |
| Databáze: | OpenAIRE |
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