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This paper studies the controllability of a leader-follower network of dynamic agents in the presence of communication delays. The network dynamics is governed by nearest neighbor rules over a fixed communication topology. The leader is a particular agent acting as an external input to steer the other member agents. We derive sufficient conditions of the controllability of the dynamic network and...
In this paper, we study consensus problems and some related topics in networked dynamic systems with single-integrator dynamics. First, by introducing two useful definitions: "leader" and "follower" with respect to consensus functions, the consensus property of systems is well characterized. For systems with general weakly connected communication topologies, we partition the agents...
This paper considers a group of mobile autonomous agents moving in the space with a virtual leader. We investigate the dynamic properties of the group for the case where the topology of the neighboring relations between agents varies with time and the coupling matrix is asymmetric. We introduce a set of switching control laws that enable the group to generate the desired stable flocking motion. The...
In this paper, we study consensus problems and some related topics in networked dynamic systems with single-integrator dynamics. First, by introducing two useful definitions: "leader" and "follower" with respect to consensus functions, the consensus property of systems is well characterized. For systems with general weakly connected communication topologies, we partition the agents...
This paper considers a group of mobile autonomous agents moving in Euclidean space with point mass dynamics. We introduce a set of coordination control laws that enable the group to generate the desired stable flocking motion. The control laws are a combination of attractive/repulsive and alignment forces. By using the control laws, all agent velocities asymptotically approach the desired velocity,...
This paper considers multiple mobile agents moving in Euclidean space with point mass dynamics and with asymmetric coupling weights. Using a coordination control scheme, we can make the group generate stable flocking motion. The control laws are a combination of attractive/repulsive and alignment forces, and the control law acting on each agent relies on the position information of all agents in the...
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