Journal
AUTOMATICA
Volume 44, Issue 3, Pages 846-850Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2007.07.004
Keywords
multi-agent system active leader; distributed control; distributed observer; common Lyapunov function
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This paper is concerned with a leader-follower problem for a multi-agent system with a switching interconnection topology. Distributed observers are designed for the second-order follower-agents, under the common assumption that the velocity of the active leader cannot be measured in real time. Some dynamic neighbor-based rules, consisting of distributed controllers and observers for the autonomous agents, are developed to keep updating the information of the leader. With the help of an explicitly constructed common Lyapunov function (CLF), it is proved that each agent can follow the active leader. Moreover, the tracking error is estimated even in a noisy environment. Finally, a numerical example is given for illustration. (C) 2007 Elsevier Ltd. All rights reserved.
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