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Leader-following consensus of multi-agent systems under fixed and switching topologies. (English) Zbl 1223.93006
Summary: The leader-following consensus problem of higher order multi-agent systems is considered. The dynamics of each agent and the leader is assumed as a linear system. The control of each agent using local information is designed and a detailed analysis of the leader-following consensus is presented for both fixed and switching interaction topologies, which describe the information exchange between the multi-agent systems. The design technique is based on algebraic graph theory, Riccati inequality and Lyapunov inequality. Simulations indicate the capabilities of the algorithms.
MSC:
93A14Decentralized systems
93C35Multivariable systems, multidimensional control systems
93B25Algebraic theory of control systems
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