Switching control of a modified leader–follower team of agents under the leader and network topological changes
Switching control of a modified leader–follower team of agents under the leader and network topological changes
- Author(s): E. Semsar-Kazerooni and K. Khorasani
- DOI: 10.1049/iet-cta.2010.0396
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- Author(s): E. Semsar-Kazerooni 1, 2 and K. Khorasani 1
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View affiliations
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Affiliations:
1: Department of Electrical and Computer Engineering, Concordia University, Montreal, Canada
2: Department of Electrical and Computer Engineering, University of Toronto, Toronto, Canada
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Affiliations:
1: Department of Electrical and Computer Engineering, Concordia University, Montreal, Canada
- Source:
Volume 5, Issue 12,
18 August 2011,
p.
1369 – 1377
DOI: 10.1049/iet-cta.2010.0396 , Print ISSN 1751-8644, Online ISSN 1751-8652
In this study, the existence of a common Lyapunov function to guarantee stability of a switching network of multi-agents with strongly connected unbalanced describing graphs and directional communication links is presented. The objective of the team is to achieve consensus while the team structure is arbitrarily changing during a given mission. Although the design strategy for the team of multi-agents is based on a semi-decentralised optimal control approach for the initial network topology, to guarantee consensus achievement for the switching network and for determining a common Lyapunov function for stability the optimal control gains have to be reassigned. It is shown that by introducing a criterion for selecting the control gains, desirable performance specifications for the switching network under the leader or the team topological changes can still be achieved.
Inspec keywords: time-varying systems; stability; graph theory; multi-robot systems; optimal control; mobile robots; Lyapunov methods
Other keywords:
Subjects: Combinatorial mathematics; Time-varying control systems; Mobile robots; Stability in control theory; Optimal control
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