Leader-following formation control of multi-agent networks based on distributed observers

doi:10.1088/1674-1056/19/10/100202

Abstract To investigate the leader-following formation control, in this paper we present the design problem of control protocols and distributed observers under which the agents can achieve and maintain the desired formation from any initial states, while the velocity converges to that of the virtual leader whose velocity cannot be measured by agents in real time. The two cases of switching topologies without communication delay and fixed topology with time-varying communication delay are both considered for multi-agent networks. By using the Lyapunov stability theory, the issue of stability is analysed for multi-agent systems with switching topologies. Then, by considering the time-varying communication delay, the sufficient condition is proposed for the multi-agent systems with fixed topology. Finally, two numerical examples are given to illustrate the effectiveness of the proposed leader-following formation control protocols.

Keywords: formation control distributed observer multi-agent system graph theory

Received: 08 January 2010
Revised: 09 April 2010
Accepted manuscript online:

PACS:	02.10.Ox	(Combinatorics; graph theory)
	02.30.Yy	(Control theory)
	07.05.Dz	(Control systems)

Fund: Project supported by the National Natural Science Foundation for Distinguished Young Scholars of China (Grant No. 60525303), the National Natural Science Foundation of China (Grant No. 60704009), the Key Project for Natural Science Research of the Hebei Educational Department (Grant No. ZD200908) and the Doctorial Fund of Yanshan University (Grant No. B203).

Cite this article:

Luo Xiao-Yuan(罗小元),Han Na-Ni(韩娜妮), and Guan Xin-Ping(关新平) Leader-following formation control of multi-agent networks based on distributed observers 2010 Chin. Phys. B 19 100202

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Leader-following formation control of multi-agent networks based on distributed observers

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