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The event-based control strategy is an effective methodology for tackling the distributed control of multi-agent systems with limited on-board resources. This technical note focuses on event-based leader-following consensus for multi-agent systems described by general linear models and subject to input time delay between controller and actuator. For each agent, the controller updates are event-based...
In this paper, the distributed output regulation problem of linear multi-agent systems is considered. Its background includes active leader following for the agents to track a leader with different dynamics and unmeasurable variables, and multi-agent consensus with environmental inputs. The driving force from active leaders or the environmental disturbance here is formulated as an exogenous system...
In this paper, we study pattern preserving path following control of unicycle teams with communication delays. The pattern of the vehicle team is said to be preserved if the distance between it and the desired one remains in some given range. A virtual vehicle formation is introduced such that each virtual vehicle becomes the pursuit target for the corresponding real vehicle. First, an input-driven...
In this paper, virtual structure and artificial potential field (APF) based strategies are integrated to realize formation tracking control for a team of unicycles with collision avoidance property. Using virtual structure, each vehicle is required to track a virtual local leader (VLL) for formation maintenance. For inter-vehicle collision avoidance, the motion of each vehicle is restricted in a specified...
In this paper, we study the control strategy for connectivity guaranteed trajectory tracking for multi-agent systems using artificial potential based approach. Some agents, called active agents (AAs), which are attracted by the reference point (modeled as the virtual leader), lead the rest of the group to perform the task. Special features of our approach are that the group is not required to be initially...
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