A tracking control scheme for leader based multi-agent consensus for discrete-time case.pdfVIP

th Proceedings of the 27 Chinese Control Conference July 16-18, 2008, Kunming,Yunnan, China A Tracking Control Scheme for Leader Based Multi-Agent Consensus for Discrete-Time Case Chen Zengqiang, Xiang Linying, Yuan Zhuzhi Department of Automation, Nankai University, Tianjin 300071, P. R. China E-mail: chenzq@nankai.edu.cn Abstract: A new leader-guarding consensus problem for heterogeneous multi-agent system with switching topology in dis- crete-time domain is investigated. First, a new discrete-time model of heterogeneous and mobile multi-agent system with a motile leader and variable topology is established, where the location information of the active leader is completely known but the acceleration information may not be measured. A neighbor-based pinning control law and a neighbor-based state-estimation rule are proposed for solving the consensus problem. Such consensus protocols under the requirement of virtual connected guarantee that each follower-agent can estimate the leaders velocity and then track it in a bounded area if the acceleration input of the leader is unknown, where the tracking error can be estimated based on Lyapunov approach. Key Words: Multi-agent systems, Cooperative control, Discrete time systems, State estimation, Consensus protocols fixed leader agents heading, which ensures that for any 1 INTROD UCTION initial set of follower headings, the members of the n -follower group all eventually follow their leader under The last decades have witnessed the birth of a new the condition of joint connection. A basic assumption of movement of interest and research in the study of coordi- their research is that all the states of the agents are meas- [1,2] nated movements of networked multi-agent systems . urable and can be directly applied to the design of control This is partially due to the rapid development in com- strategy. However, in many circumstances this simplifi- munic