Practical consensus tracking of multi-agent systems with linear controllers
Fayrouz Isfoula, Patrick Coirault, Emmanuel Bernuau, Emmanuel Moulay, Qishuai Liu, Qing Hui · 2019
The second-order practical consensus tracking of multi-agent systems with a fixed topology and a varying leader's velocity is obtained by using a linear control strategy and the input-to-state stability framework. Then, a new control protocol is proposed where the leader, called a perceptive leader, receives information from its followers. Finally, a study is provided in simulation and on a fleet of mobile robots showing the effectiveness of non perceptive and perceptive strategies in terms of speed of convergence, precision and connectivity maintenance.