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Communication Dans Un Congrès Année : 2019

Practical consensus tracking of multi-agent systems with linear controllers

Résumé

The second-order practical consensus tracking of multi-agent systems with a fixed topology and a varying leader's velocity is obtained by using a linear control strategy and the input-to-state stability framework. Then, a new control protocol is proposed where the leader, called a perceptive leader, receives information from its followers. Finally, a study is provided in simulation and on a fleet of mobile robots showing the effectiveness of non perceptive and perceptive strategies in terms of speed of convergence, precision and connectivity maintenance.
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Dates et versions

hal-02266769 , version 1 (03-02-2021)

Identifiants

Citer

Fayrouz Isfoula, Emmanuel Bernuau, Emmanuel Moulay, Patrick Coirault, Qishuai Liu, et al.. Practical consensus tracking of multi-agent systems with linear controllers. 2019 18th European Control Conference (ECC), Jun 2019, Naples, Italy. pp.3028-3033, ⟨10.23919/ECC.2019.8795734⟩. ⟨hal-02266769⟩
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