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http://dx.doi.org/10.6109/jkiice.2021.25.11.1663

Consensus-based Cooperative Control for multiple leaders and single follower with interaction nonlinearities  

Tack, Han-Ho (Department of Convergence Electronic Engineering, Gyeongsang National University)
Lim, Young-Hun (Department of Convergence Electronic Engineering, Gyeongsang National University)
Publication Information
Journal of the Korea Institute of Information and Communication Engineering / v.25, no.11, 2021 , pp. 1663-1669 More about this Journal
Abstract
This paper considers the cooperative control problem for multiple leaders and a single follower with interactions. The leaders are controllable, and the follower has interactions with all leaders and is controlled by the interactions. Then, we study the cooperative control problem that achieves the consensus by controlling the leaders. The leaders and the follower are modeled by the single-integrator and the double-integrator, respectively, and it is assumed that the interactions have the nonlinearities. The leaders can estimate the interaction between the follower and exchange the estimated information with neighbors. Then, this paper proposes the consensus-based cooperative control algorithm using the information exchange of the estimated interactions and the virtual velocity variables to achieve the velocity consensus. We analyze the convergence of the agents to the common state based on the Lasalle's Invaraince Principle. Finally, we provide the numerical example to validate the theoretical results.
Keywords
Consensus control; Cooperative control; Interaction nonlinearities; Multi-agent system; Multiple leaders;
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