Leader-following consensus of nonlinear multi-agent systems based on position and velocity estimations

In this paper, leader-following consensus problem of nonlinear multi-agent systems is studied. In order to obtain control law in multi-agent systems, usually agents’ information should be exactly known, which may not be available in real applications. In this work, a method is proposed to estimate the position and velocity of agents with arbitrary initial conditions of followers and leaders. Then, the estimations are used to obtain a consensus control law. At first, a single integrator nonlinear multi-agent system with a leader is considered, and a consensus law is proposed using followers’ position estimations. Then, for a double integrator nonlinear system, a controller is obtained based on position and velocity estimations. Several simulations are performed to validate the proposed method.

• Publication year

  2021

• Venue

  International Conference on Computer and Information Application

• Publication date

  2021-02-23

• Fields of study

  Not labeled

• Identifiers
  DOI 10.1109/ICCIA52082.2021.9403587
• External record

  Open on Semantic Scholar

• Source metadata

  Semantic Scholar

• No claims are published for this paper.

• No concepts are published for this paper.

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