Controllability and Observability of Leader-Based Multi-agent Systems

被引：29
|
作者：
Lozano, R. [1 ]
Spong, M. W. [2 ]
Guerrero, J. A. [1 ]
Chopra, N. [3 ]
机构：
[1] CNRS, UTC 6599, Heudiasyc Lab, F-75700 Paris, France
[2] Univ Illinois, Informat Trust Inst, Urbana, IL 61801 USA
[3] Univ Maryland, Dept Mech Engn, College Pk, MD 20742 USA
来源：
47TH IEEE CONFERENCE ON DECISION AND CONTROL, 2008 (CDC 2008) | 2008年
关键词：
Multi-agent coordination; Trajectory tracking; Formation Control; Controllability; Observability;
D O I：
10.1109/CDC.2008.4739071
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this work we analyze the controllability and observability properties of several interconnection configurations such as the chain topology and cyclic topology as well as combinations of these two topologies. A leader/follower control strategy is proposed to control the center of mass of the multiple agent system. It is shown that the trajectory tracking for a multi-agent system converges to the constant input reference given only to the leader. Also, it is shown that choosing an appropriated gain, the agents achieve consensus for constant input reference.
引用
收藏
页码：3713 / 3718
页数：6
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