Flocking for multi-agent systems with optimally rigid topology based on information weighted Kalman consensus filter

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• 作者：Xiaoyuan Luo ; Xiaolei Li ; Shaobao Li…
• 关键词：Consensus estimation ; flocking control ; multi ; agent systems ; topology optimization
• 刊名：International Journal of Control, Automation and Systems
• 出版年：2017
• 出版时间：February 2017
• 年：2017
• 卷：15
• 期：1
• 页码：138-148
• 全文大小：
• 刊物类别：Engineering
• 刊物主题：Control, Robotics, Mechatronics;
• 出版者：Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
• ISSN：2005-4092
• 卷排序：15

文摘

This paper investigates the leader-follower flocking problem of multi-agent systems. The leader with input noise is estimated by a proposed continuous-time information weighted Kalman consensus filter (IWKCF) for agents. A novel distributed flocking algorithm based on the IWKCF is further presented to make agents achieve flocking to the leader. It is shown that the proposed flocking algorithm based on the continuous-time IWKCF is asymptotically stable. Applying the topology optimization scheme, the communication complexity of system topologies of multi-agent systems is effectively reduced. Finally, simulations are provided to demonstrate the effectiveness of the proposed results.