Leader-following consensus protocols for formation control of multi-agent network |
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| Authors: | Xiaoyuan Luo Nani Han Xinping Guan School of Electronic Information Electrical Engineering Shanghai Jiaotong University Shanghai PRChina |
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| Institution: | Xiaoyuan Luo 1,*,Nani Han 2,and Xinping Guan 2 1.School of Electronic,Information and Electrical Engineering,Shanghai Jiaotong University,Shanghai 200240,P.R.China,2.Institute of Electrical Engineering,Yanshan University,Qinhuangdao 066004 |
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| Abstract: | Two protocols are presented,which can make agents reach consensus while achieving and preserving the desired formation in fixed topology with and without communication timedelay for multi-agent network.First,the protocol without considering the communication time-delay is presented,and by using Lyapunov stability theory,the sufficient condition of stability for this multi-agent system is presented.Further,considering the communication time-delay,the effectiveness of the protocol based on Lyapunov-Krasovskii... |
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| Keywords: | consensus formation control leader-following com-munication time-delay multi-agent systems |
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