Abstract:
In this paper, we study the distributed cooperative control of second-order multi-agent systems with intrinsic nonlinear dynamics under an undirected graph that character...Show MoreMetadata
Abstract:
In this paper, we study the distributed cooperative control of second-order multi-agent systems with intrinsic nonlinear dynamics under an undirected graph that characterizes the interaction among the followers or agents. By introducing a distributed filter for each follower or agent, the proposed control algorithms use only relative position measurements. Both the coordination tracking problem with a dynamic leader and the leaderless consensus problem are considered. In the special case when the intrinsic nonlinear dynamics are zero, i.e., for multi-agent systems with second-order integrators, we further derive results for the leaderless consensus problem under a directed graph. We present a necessary and sufficient condition such that the systems achieve consensus using only relative position measurements.
Published in: 2012 American Control Conference (ACC)
Date of Conference: 27-29 June 2012
Date Added to IEEE Xplore: 01 October 2012
ISBN Information: