自动化学报Issue(1)：180-185,6.DOI:10.16383/j.aas.2015.c140001
基于有向网络的一致性跟踪算法
Consensus Tracking Algorithms with Directed Network
摘要
Abstract
This paper considers consensus tracking of multi-agent systems with general linear dynamics and a leader whose control input is nonzero and unavailable to any follower. Two tracking algorithms are designed for each follower. We prove that the followers can track the leader using both algorithms if the interaction graph among them is directed and there ex-ists a directed path from the leader to each follower. For the first algorithm, each follower calculates the neighbors0 control inputs based on their states, then the stability condition is given based on the algebra Riccati inequality. The second algorithm utilizes neighbors0 states directly and the followers can track the leader with the aforementioned topology based on the algebra Riccati inequality. Simulations indicate the capabilities of the algorithms.关键词
一致性跟踪/一致性/协同控制/代数Riccati 不等式Key words
Consensus tracking/consensus/cooperative con-trol/algebra Riccati inequality引用本文复制引用
周峰,吴炎烜..基于有向网络的一致性跟踪算法[J].自动化学报,2015,(1):180-185,6.基金项目
航空科学基金(2013ZC72006)资助Supported by Aeronautical Science Foundation of China (2013ZC72006) （2013ZC72006）
