TY - GEN
T1 - Adaptive leader-following control of second-order multi-agent systems
AU - Hu, Jiangping
AU - Zheng, Wei Xing
PY - 2014
Y1 - 2014
N2 - ![CDATA[In this paper, a leader-following problem is considered for a group of autonomous agents when a second-order multi-agent system is used to describe the network dynamics. Both the dynamics of the leader and the followers are subjected to unknown disturbances, which are represented by linearly parameterized models. The relative position measurements and the relative velocity measurements are utilized as the new state variables to yield a new distributed system. When both the two relative measurements are available for followers, we design an adaptive tracking control for each follower, which needs no more global information about the bounds of the unknown disturbances. Moreover, analysis is also made of the stability of the tracking error system and the parameter convergence. A numerical example is finally given to illustrate the good performance of the proposed adaptive tracking control.]]
AB - ![CDATA[In this paper, a leader-following problem is considered for a group of autonomous agents when a second-order multi-agent system is used to describe the network dynamics. Both the dynamics of the leader and the followers are subjected to unknown disturbances, which are represented by linearly parameterized models. The relative position measurements and the relative velocity measurements are utilized as the new state variables to yield a new distributed system. When both the two relative measurements are available for followers, we design an adaptive tracking control for each follower, which needs no more global information about the bounds of the unknown disturbances. Moreover, analysis is also made of the stability of the tracking error system and the parameter convergence. A numerical example is finally given to illustrate the good performance of the proposed adaptive tracking control.]]
KW - adaptive tracking control
KW - intelligent agents (computer software)
KW - multiagent systems
KW - parameter estimation
UR - http://handle.uws.edu.au:8081/1959.7/uws:29352
UR - http://www.ifac2014.org/
U2 - 10.3182/20140824-6-ZA-1003.01977
DO - 10.3182/20140824-6-ZA-1003.01977
M3 - Conference Paper
SN - 9783902823625
SP - 11691
EP - 11696
BT - Proceedings of the 19th World Congress of The International Federation of Automatic Control Cape Town, South Africa. August 24-29, 2014
PB - IFAC
T2 - International Federation of Automatic Control. World Congress
Y2 - 24 August 2014
ER -