A generalized hierarchical nearly cyclic pursuit for the leader-following consensus problem in multi-agent systems

Abstract

In this paper, we solve the leader-following consensus problem using a hierarchical nearly cyclic pursuit (HNCP) strategy for multi-agent systems. We extend the nearly cyclic pursuit strategy and the two-layer HNCP to the generalized L-layer HNCP that enables the agents to rendezvous at a point dictated by a beacon. We prove that the convergence rate of the generalized L-layer HNCP for the leader-following consensus problem is faster than that of the nearly cyclic pursuit. Simulation results demonstrate the effectiveness of the proposed method.

Output-feedback anti-disturbance consensus for multi-agent systems with application to secondary voltage regulation for microgrids

“…Consensus is a basic topic for distributed control, which means that the agent of a group achieves the agreement through implementation of suitable consensus controllers via local neighboring information. Many results have been reported on such topics (Babenko et al, 2018; Feng and Tu, 2016; Iqbal et al, 2018; Nowzari et al, 2019; Rehman et al, 2021; Seyboth et al, 2013; Shariati and Tavakoli, 2017). However, these results achieve uniformly asymptotic convergence or ultimately bounded.…”

Affine transformation‐based no‐beacon circular formation of agents

“…Circular motions are also studied in the scenario of cyclic pursuit in [13, 14] etc., where no virtual reference beacon is required. In particular, a group of mobile agents are studied in [15–20], where each agent pursues the leading neighbour along the line of sight rotated by a common offset angle, resulting in a circular motion. The cyclic pursuit formation is based on a fixed network topology, especially, represented by a circulant matrix.…”