## Tracking control for multi-agent consensus with an active leader and variable topology.(English)Zbl 1117.93300

Summary: We consider a multi-agent consensus problem with an active leader and variable interconnection topology. The state of the considered leader not only keeps changing but also may not be measured. To track such a leader, a neighbor-based local controller together with a neighbor-based state-estimation rule is given for each autonomous agent. Then we prove that, with the proposed control scheme, each agent can follow the leader if the (acceleration) input of the active leader is known, and the tracking error is estimated if the input of the leader is unknown.

### MSC:

 93A13 Hierarchical systems 93D05 Lyapunov and other classical stabilities (Lagrange, Poisson, $$L^p, l^p$$, etc.) in control theory 93B52 Feedback control 93C15 Control/observation systems governed by ordinary differential equations

### Keywords:

multi-agent systems; consensus; state estimation; active leader
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### References:

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