Journal
JOURNAL OF SYSTEMS SCIENCE & COMPLEXITY
Volume 22, Issue 4, Pages 722-731Publisher
SPRINGER HEIDELBERG
DOI: 10.1007/s11424-009-9197-z
Keywords
Active leader; distributed algorithms; multi-agent systems; switching topology
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Funding
- National Natural Science Foundation of China [60874018, 60628302, 60821091]
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This paper considers a multi-agent tracking problem for a high-dimensional active leader and variable interconnection topology. The state of the leader not only keeps changing but also may not be measured. To estimate the state such a leader individually, a neighbor-based local controller together with a neighbor-based state-estimation rule is given for each autonomous agent. Then, the authors prove that, with the help of a constructed common Lyapunov function (CLF), each agent can track the active leader with unmeasurable states. Finally, the authors explicitly construct a CLF for an active leader with unknown periodic input for illustration.
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