PDE-based consensus control for leader-follower multi-agent systems
Xiaofeng Cui, Yankun He, Zhijie Liu, Zixu Wang, Shizhen Zhao · 2022 17th International Conference on Control, Automation, Robotics and Vision (ICARCV) · 2022
In this paper, we propose a control for a class of multi-agent systems described by diffusion partial differential equations to solve the leader-follower consensus problem. Each group of follower agents changes according to the leader group's formation, obtaining the desired formation by applying boundary control. We use the Lyapunov direct method to prove the system is uniformly ultimately bounded. Numerical simulation results finally show the validity of the proposed control.