Control Problems For Leader-following Multi-agent Systems Under Switching Topologies

With the development of computer,communication and artificial intelligence technology,the coordination control of multi-agent system has become a hot research field.And many coordination control problems,including formation control,are established on the basis of consensus.Thus,the consensus problems of leader-following multi-agent systems are studied in this paper.And the consensus control algorithms for leader-following linear continuous multi-agent system,leader-following uncertain multi-agent system and leader-following nonlinear multi-agent system are proposed under switching topologies.First of all,the consensus problem for leader-following linear continuous multi-agent system under switching topologies is considered.By analyzing and modeling system,a control algorithm is designed under the condition that the topologies of the system are jointly connected.And the consensus analysis of the considered multi-agent system is transformed into the stabilization of an error dynamic system.Secondly,the consensus problem for uncertain leader-following multi-agent system under switching topologies is investigated.And bounded uncertain parameters are existed in the system matrix of the model.Since the information of some agents are unavailable,state observers for all the followers are established to track the leader,and the consensus control algorithm is designed to achieve the target.Finally,the consensus control for leader-following nonlinear multiagent system under switching topologies is realized.Considering the nonlinearity of practical systems,there are some unknown nonlinear terms involved in the system model.By parameterizing the unknown terms,a distributed control protocol and an adaptive control law are designed for the multi-agent system combined with the observer-based nonlinear output feedback.And the stability of these systems are analyzed respectively based on the Lyapunov theory and the Riccati inequality,and numerical simulations are conducted to illustrate the theoretical result.In a word,this paper investigated the control problems for leader-following multi-agent systems under switching topologies,and the models established in this paper have strong pertinence and practical application value.