Consensus pursuit of heterogeneous multi-agent systems under a directed acyclic graph

doi:10.1088/1674-1056/20/4/048901

Abstract This paper is concerned with the cooperative target pursuit problem by multiple agents based on directed acyclic graph. The target appears at a random location and moves only when sensed by the agents, and agents will pursue the target once they detect its existence. Since the ability of each agent may be different, we consider the heterogeneous multi-agent systems. According to the topology of the multi-agent systems, a novel consensus-based control law is proposed, where the target and agents are modeled as a leader and followers, respectively. Based on Mason's rule and signal flow graph analysis, the convergence conditions are provided to show that the agents can catch the target in a finite time. Finally, simulation studies are provided to verify the effectiveness of the proposed approach.

Keywords: heterogeneous multi-agent systems pursuit consensus leader–follower

Received: 01 November 2010
Revised: 26 November 2010
Accepted manuscript online:

PACS:	89.20.Ff	(Computer science and technology)
	87.85.St	(Robotics)
	89.65.Ef	(Social organizations; anthropology ?)
	02.30.Em	(Potential theory)

Fund: Project supported by the National Basic Research Program of China (Grant No. 2010CB731800), the Key Project of the National Natural Science Foundation of China (Grant No. 60934003), the National Natural Science Foundation of China (Grant No. 61074065), the Key Project for the Natural Science Research of Hebei Education Department, China (Grant No. ZD200908), and the Key Project for the Shanghai Committee of Science and Technology (Grant No. 08511501600).

Cite this article:

Yan Jing(闫敬), Guan Xin-Ping(关新平), and Luo Xiao-Yuan(罗小元) Consensus pursuit of heterogeneous multi-agent systems under a directed acyclic graph 2011 Chin. Phys. B 20 048901

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Consensus pursuit of heterogeneous multi-agent systems under a directed acyclic graph

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