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1、thProceedingsofthe27ChineseControlConferenceJuly16-18,2008,Kunming,Yunnan,ChinaATrackingControlSchemeforLeaderBasedMulti-Agent*ConsensusforDiscrete-TimeCaseChenZengqiang,XiangLinying,YuanZhuzhiDepartmentofAutomation,NankaiUniversity,Tianjin300071,P.R.ChinaE-mail:chenzq@nan
2、kai.edu.cnAbstract:Anewleader-guardingconsensusproblemforheterogeneousmulti-agentsystemwithswitchingtopologyindis-crete-timedomainisinvestigated.First,anewdiscrete-timemodelofheterogeneousandmobilemulti-agentsystemwithamotileleaderandvariabletopologyisestablished,wherethel
3、ocationinformationoftheactiveleaderiscompletelyknownbuttheaccelerationinformationmaynotbemeasured.Aneighbor-basedpinningcontrollawandaneighbor-basedstate-estimationruleareproposedforsolvingtheconsensusproblem.Suchconsensusprotocolsundertherequirementofvirtualconnectedguara
4、nteethateachfollower-agentcanestimatetheleader'svelocityandthentrackitinaboundedareaiftheaccelerationinputoftheleaderisunknown,wherethetrackingerrorcanbeestimatedbasedonLyapunovapproach.KeyWords:Multi-agentsystems,Cooperativecontrol,Discretetimesystems,Stateestimation,Cons
5、ensusprotocolsfixedleaderagent'sheading,whichensuresthatforany1INTRODUCTIONinitialsetoffollowerheadings,themembersofthen-followergroupalleventuallyfollowtheirleaderunderThelastdecadeshavewitnessedthebirthofanewtheconditionofjointconnection.Abasicassumptionofmovementofinter
6、estandresearchinthestudyofcoordi-theirresearchisthatallthestatesoftheagentsaremeas-[1,2]natedmovementsofnetworkedmulti-agentsystems.urableandcanbedirectlyappliedtothedesignofcontrolThisispartiallyduetotherapiddevelopmentincom-strategy.However,inmanycircumstancesthissimplif
7、i-municationandcomputation,andwideapplicationsofcationdoesnotmatchsatisfactorilythepeculiaritiesofmulti-agentsystemsinmanyareasincludingcooperativerealsystems.Forinstance,intheprocessofperforming[3][4]controlofmobilerobots,unmannedairvehicles,coordinationtask(i.e.,searchan
8、dmonitoring)foraro-[5]autonomousformationflight,controlofmulti-vehicleboticsensornetworko
