Leader-following consensus of multi-agent system with multiple leaders under formation control
Qi Gang Han, Ao Zhang, Xia Wang, Rui Cao, Guorong Chen · 2020 IEEE 3rd International Conference of Safe Production and Informatization (IICSPI) · 2020
In this article, the consensus problem of a multiagent system with multiple leaders under formation control is studied. Compared with the previous multi-agent research, this paper solves the formation control problem of multi-agent systems with the consideration of the connection relationship between followers and leaders. The Prim algorithm is used to cut the OFTML (One follower connects to multiple leaders) and redundant connections in the system, which not only reduces the communication traffic in the system, but also makes the leader maintain the connection of 1:n with followers. Convert the original communication topology graph with N leaders into a topology graph with N spanning trees. Then, an effective formation control protocol is proposed to ensure that the multiagent system reaches the desired position, and based on the Lyapunov stability theory, sufficient conditions to ensure the stability of the multi-agent system are obtained. Finally, numerical simulation is used to prove the correctness and validity of the theoretical results.