Consensus for multi-agent systems with an active leader
Bo Liu, Yu Yan, Jie Zhang · 2010 Sixth International Conference on Natural Computation · 2010
This paper investigates consensus for a multi-agent system with an active leader and collision avoidance by using an artificial social potential. The leader is active and can't be measured. We also consider the model with time delays. When the interconnection topology is fixed and directed, It is proved that the tracking error of each free agent is bounded when the interconnection topology is fixed and switching, respectively.