Target aggregation of multiple mobile agents by multiple leaders with switching topologies
Youcheng Lou, Yiguang Hong · 2010
In this paper, we consider the target aggregation of a multi-agent system consisting of multiple active leaders and second-order dynamical agents, where the target set spanned by these leaders is moving. Sufficient conditions are given in both stationary leader and moving leader case in the active leader case with switching topologies. With these conditions, all the mobile agents with second-order dynamics can asymptotically track the dynamical target set specified by multiple active leaders with bounded error.