Journal
AUTOMATICA
Volume 42, Issue 7, Pages 1177-1182Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2006.02.013
Keywords
multi-agent systems; consensus; state estimation; active leader
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In this paper, we consider a multi-agent consensus problem with an active leader and variable interconnection topology. The state of the considered leader not only keeps changing but also may not be measured. To track such a leader, a neighbor-based local controller together with a neighbor-based state-estimation rule is given for each autonomous agent. Then we prove that, with the proposed control scheme, each agent can follow the leader if the (acceleration) input of the active leader is known, and the tracking error is estimated if the input of the leader is unknown. (c) 2006 Elsevier Ltd. All rights reserved.
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