Knowledge Commons of Institute of Automation,CAS
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. |
条目包含的文件 | 条目无相关文件。 |
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