Leader-following consensus control of multi-agent systems with node dynamic join characteristics

Yuqian Xiao; Yong Fang; Yanzan Sun; Yu Ge

doi:10.1117/12.2623959

6 February 2022 Leader-following consensus control of multi-agent systems with node dynamic join characteristics

Yuqian Xiao, Yong Fang, Yanzan Sun, Yu Ge

Proceedings Volume 12081, Sixth International Conference on Electromechanical Control Technology and Transportation (ICECTT 2021); 120811L (2022) https://doi.org/10.1117/12.2623959
Event: Sixth International Conference on Electromechanical Control Technology and Transportation (ICECTT 2021), 2021, Chongqing, China

Abstract

This paper focuses on the leader-following consensus problem of linear multi-agent systems (MASs). Usually the MAS is considered as a fixed topology without considering the changes of agent’s state. In practice, however, agents often have a strong mobility. In this case, the MAS suffers from inconsistency after the entry and departure of agents. In this paper, we design the control scheme of each agent to achieve state consensus by using local information and analyze the leaderfollowing consensus problem in the case of agent node dynamically joining in the original network topology, and information exchange between the agents can be described by the network topology. The control method of MAS, with agent node dynamic join characteristics, is designed based on algebraic graph theory and Lyapunov theory. Simulation results show the validity and effectiveness of the algorithms.

Citation Download Citation

Yuqian Xiao, Yong Fang, Yanzan Sun, and Yu Ge "Leader-following consensus control of multi-agent systems with node dynamic join characteristics", Proc. SPIE 12081, Sixth International Conference on Electromechanical Control Technology and Transportation (ICECTT 2021), 120811L (6 February 2022); https://doi.org/10.1117/12.2623959

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