Paper Info
Title
Necessary and sufficient conditions for average formation tracking of second-order multi-agent systems with multiple leaders.
Abstract
Average formation tracking problems for second-order multi-agent systems with multiple leaders and directed interaction topologies are studied, where the states of followers form a predefined time-varying formation while tracking the average state of the multiple leaders. An average formation tracking protocol is constructed using neighboring relative information, where only part of the followers which are named as well-informed ones are required to obtain the information of the multiple leaders. New properties of the Laplacian matrix are derived under the assumption that for each uninformed follower, there exists at least one directed path from a well-informed follower to it. Necessary and sufficient conditions for second-order multi-agent systems with multiple leaders to achieve average formation tracking are proposed by utilizing the properties of the Laplacian matrix. An approach to design the average formation tracking protocol is presented by solving an algebraic Riccati equation. The presented results can be applied to deal with the target enclosing problems, average tracking problems and consensus tracking problems for second-order multi-agent systems with one or multiple targets/leaders. An application example in multiple vehicles enclosing is provided to demonstrate the effectiveness of the theoretical results.
Year
DOI
Venue
2017
10.1016/j.jfranklin.2016.10.030
Journal of the Franklin Institute
Field
DocType
Volume
Laplacian matrix,Mathematical optimization,Existential quantification,Control theory,Multi-agent system,Network topology,Algebraic Riccati equation,Mathematics
Journal
354
Issue
ISSN
Citations 
2
0016-0032
15
PageRank 
References 
Authors
0.54
24
4
Name
Order
Citations
PageRank
Xiwang Dong157335.47
Qingke Tan2150.54
Qingdong Li310212.25
Zhang Ren415322.79