Leader-Following Control of Multi-agent Consensus for a Discrete-Time Case

Abstract

This paper considers the consensus of the leaderfollowing systems with a discrete-time model. The velocity of the active leader is unknown in real time. This paper designs the control laws and observers based on the neighbors to solve the consensus problem. The Lyapunov approach has played an important role in the leader-following systems. It is shown that all agents asymptotically move with the same velocity and position. Moreover, it is also proved that each follower can track the active leader in a noisy-free environment, and the tracking error is estimated in a noisy environment.

Bounded consensus of leader-following multi-agent systems with sampling delay for double-integrator dynamics

“…This can be classified as the consensus tracking, where all the agents exchange their own state information with their neighbours or the virtual leader such that all the agents track the virtual leader. Consensus protocols of leader-following multi-agent systems were proposed to solve this problem (Liu et al, 2009;Peng and Yang, 2009). Moreover, sampling delay might cause systems to oscillate or diverge in engineering application, thus the delay effects on stability of multi-agent systems should be considered inevitably.…”

Formation and trajectory tracking of discrete-time multi-agent systems using block control

“…The design of a control law, based on observation of the agent's states, to solve the consensus problem is proposed in [7], where the consensus of a MAS discrete-time model with second-order dynamics is considered. However, in that work the accelerations must be known by all the agents.…”