Observer‐based formation tracking control for leader–follower multi‐agent systems. Issue 2 (10th January 2019)

• Record Type: Journal Article
• Authors: Zhao, Wei; Yu, Wenwu; Zhang, Huaipin
• Is Part Of: IET control theory & applications. Volume 13:Issue 2(2019)
• Page Start: 239
• Page End: 247
• Publication Date: 2019-01-10
• Subjects: position control -- mobile robots -- multi‐robot systems -- multi‐agent systems -- observers -- distributed control; observer‐based formation tracking control -- second‐order leader–follower multiagent systems -- velocity -- acceleration -- distributed observers -- observed states -- distributed formation tracking control protocol -- analyse two communication networks -- active leader; Control theory -- Periodicals; Automatic control -- Periodicals; 629.8312
• DOI: 10.1049/iet-cta.2018.5443
• Languages: English
• ISSNs: 1751-8644

Abstract

Abstract : This study investigates the formation tracking control for second‐order leader–follower multi‐agent systems. To estimate the velocity and acceleration of the leader, distributed observers are constructed for each follower. Based on the observed states, the authors propose a novel distributed formation tracking control protocol and analyse two communication networks with and without communication delays. Then, they prove that each agent can follow the active leader closely and form the desired spatial pattern. Finally, simulation examples are provided to show the validity of the theoretical results.