Controllability and observability of leader-based multi-agent systems

— In this work we analyze the controllability and observability properties of several interconnection configurations such as the chain topology and cyclic topology as well as combinations of these two topologies. A leader/follower control strategy is proposed to control the center of mass of the multiple agent system. It is shown that the trajectory tracking for a multi-agent system converges to the constant input reference given only to the leader. Also, it is shown that choosing an appropriated gain, the agents achieve consensus for constant input reference.

• Type: Conference
• Year: 2008
• Where: CDC
• Authors: Rogelio Lozano, Mark W. Spong, Jose Alfredo Guerrero Mata, Nikhil Chopra
• Keywords: CDC 2008, Constant Input Reference, Control Systems, Leader/follower Control Strategy, Multiple Agent System