Influence Analysis of Leader Information with Application to Formation Control of Multi-agent Systems
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ISSN:1598-6446 eISSN:2005-4092 http://www.springer.com/12555
Influence Analysis of Leader Information with Application to Formation Control of Multi-agent Systems Bo He and Feng Gao* Abstract: Considering the problem that does all the information have the same effect on the control performance of multi-agent system, this paper analyzes the influence of leader state on closed loop dynamics of formation theoretically. For the first time, it is proved that the leader information can mask out the effect of others and the closed loop dynamics of formation is equivalent to the leader follower topology if all followers can receive the leader information and others. Based on this new foundation, an estimator for leader state is designed using the sliding mode control theory. This estimator is independent of the dynamical functions of agents and only the minimum eigenvalue of topological matrix is required to ensure the convergence of estimation error even when leader runs dynamically. Several simulations have been conducted to further validate the correctness of this new theoretical foundation and the effectiveness of the estimator based formation control strategy. Keywords: Decoupling analysis, formation control, multi-agent system, state estimation.
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INTRODUCTION
Recently, the research on networked multi-agent system has attracted wide attention from many fields, such as physics, biology, social science, neuroscience, engineering and so on. Meanwhile, broad applications in these areas are getting more and more common, such as energy and smart grid management [1,2], networked traffic signal control [3], formation flying [4], cooperative unmanned aerial vehicles [5], automatic guided vehicles [6, 7] and so forth. Multi-agent system aims to drive multiple agents to achieve prescribed constraints on their states, and formation control becomes one of the most actively studied topics [8]. Information flow among agents significantly affects the performance of formation system. With the development of wireless communication, more information can be collected and fed back for control, which leads the interaction topology among agents to be diverse and uncertain. Considering fixed and single topology, varieties of control methods have been extensively studied in the literature, for instance, sliding-mode control [9,10], adaptive control [11], H∞ control with state-feedback [12] and etc. The application of wireless communication to multi-agent system brings convenience of information exchange among agents. However, the limited range and weakness of com-
munication performance cause the interaction topology of multi-agents to be uncertain including both its value and structure, which poses great challenges to formation control. Fax and Murray presented a Nyquist-like criterion, which uses the eigenvalues of the Laplacian matrix to determine the effect of communication topology on the system stability [13]. As a result, the stability performance of multi-agent system is affected by its interaction topology. Therefore, the adap
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