Multileader set aggregation control of multi-agent systems with communication delays
Xueliang Liu · Control theory & applications · 2012
This paper considers a set aggregation control problem for continuous-time multi-agent systems guided by multiple leaders.It is assumed that each follower-agent can measure the relative states of its neighbors in a time-delay and directed communication channels.A neighbor-based control rule is designed to realize local control strategies for these continuous-time agents.By Lyapunov method and the linear matrix inequality technique,we derive sufficient conditions for all follower-agents to aggregate in a polytope region formed by the leaders.In addition,this result is extended to a more general case with time-delay and noise perturbation.Numerical examples are given to validate the correctness and effectiveness of the theoretical results.