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Leader-following Consensus Problem with an Accelerated Motion Leader
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  • Leader-following Consensus Problem with an Accelerated Motion Leader
  • Leader-following Consensus Problem with an Accelerated Motion Leader
저자명
Gao. Lixin,Zhu. Xinjian,Chen. Wenhai
간행물명
International Journal of Control, Automation and Systems
권/호정보
2012년|10권 5호|pp.931-939 (9 pages)
발행정보
제어로봇시스템학회
파일정보
정기간행물|ENG|
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기타
이 논문은 한국과학기술정보연구원과 논문 연계를 통해 무료로 제공되는 원문입니다.
서지반출

기타언어초록

In this paper, we consider a multi-agent consensus problem with an accelerated motion leader and variable interconnection topology. To track such a leader, a neighbor-based local controller together with a neighbor-based state-estimation rule is proposed for each second-order follower-agent. The neighbor-based estimation rule is used to estimate the acceleration of the leader, which is assumed not to be measured by follower agents directly. By constructing a parameter-dependent common Lyapunov function, a sufficient condition is established to guarantee that each agent can follow the leader although the leader moves with an unknown time-variant acceleration. Moreover, the tracking error is estimated for the case that the unknown acceleration part of the leader has bounded derivative. Finally, a numerical example is given to illustrate the obtained result.