Coupling effect and pole assignment in trajectory regulation of multi-agent systems

Title: Coupling effect and pole assignment in trajectory regulation of multi-agent systems
Creator: Zhang, Jilie; Chen, Zhiyong; Zhang, Hongwei; Feng, Tao
Relation: Automatica Vol. 125, Issue March 2021, no. 109465
Publisher Link: http://dx.doi.org/10.1016/j.automatica.2020.109465
Publisher: Elsevier
Resource Type: journal article
Date: 2021
Description: This paper revisits a well studied leader-following consensus problem of linear multi-agent systems, while aiming at follower nodes’ transient performance. Conventionally, when not all follower nodes have access to the leader’s state information, distributed observers are designed to estimate the leader’s state, and the observers are coupled via communication network. Then each follower node only needs to track its observer’s state independently, without interacting with its neighbors. This paper deliberately introduces certain coupling effect among follower nodes, such that the follower nodes tend to converge to each other cooperatively on the way they converge to the leader. Moreover, by suitably designing the control law, the poles of follower nodes can be assigned as desired, and thus transient tracking performance can also be adjusted.
Subject: coupling effect; multi-agent system; pole assignment; trajectory regulation
Identifier: http://hdl.handle.net/1959.13/1462039
Identifier: uon:46369
Identifier: ISSN:0005-1098
Language: eng
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