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Distributed observers design for leader-following control of multi-agent networks. (English) Zbl 1283.93019
Summary: This paper is concerned with a leader-follower problem for a multi-agent system with a switching interconnection topology. Distributed observers are designed for the second-order follower-agents, under the common assumption that the velocity of the active leader cannot be measured in real time. Some dynamic neighbor-based rules, consisting of distributed controllers and observers for the autonomous agents, are developed to keep updating the information of the leader. With the help of an explicitly constructed common Lyapunov function (CLF), it is proved that each agent can follow the active leader. Moreover, the tracking error is estimated even in a noisy environment. Finally, a numerical example is given for illustration.

93A14 Decentralized systems
68T42 Agent technology and artificial intelligence
93B07 Observability
Full Text: DOI
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