Leader-following consensus of multi-agent systems with dynamic leader and measurement noises

	Leader-following consensus of multi-agent systems with dynamic leader and measurement noises
	Yunpeng Wang; Yunchun Xie; Long Cheng
	2017
会议名称	36th Chinese Control Conference (CCC)
会议日期	JUL 26-28, 2017
会议地点	Dalian
会议举办国	China
摘要	This paper studies a leader-following consensus problem of multi-agent systems with a dynamic leader. It is assumed that the leader moves along a polynomial trajectory with respect to time, while followers have first-order integral dynamics. Every follower is equipped with the positioning system and ranger finder sensor to measure its own position and the relative positions with its neighbors. The measured information is corrupted by measurement noise. We first study a specials case of leader-following consensus problem (tracking problem), then we extend the results to the general case. It is assumed that leader's velocity is unknown to all followers. To deal with this challenge, the least square is used to estimate leader's velocity. Base on the estimated velocity and measured information, a consensus protocol is proposed. It is proved that the proposed protocol can solve the mean square leader-following consensus problem under some mild conditions. Some simulation examples are also presented to demonstrate the effectiveness of the proposed protocol.
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/23125
专题	复杂系统认知与决策实验室_先进机器人
推荐引用方式 GB/T 7714	Yunpeng Wang,Yunchun Xie,Long Cheng. Leader-following consensus of multi-agent systems with dynamic leader and measurement noises[C],2017.