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On Control of Heterogeneous Multiagent Systems With Unknown Leader Dynamics

[+] Author Affiliations
S. Burak Sarsilmaz, Tansel Yucelen

University of South Florida, Tampa, FL

Paper No. DSCC2017-5066, pp. V002T14A004; 8 pages
  • ASME 2017 Dynamic Systems and Control Conference
  • Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications
  • Tysons, Virginia, USA, October 11–13, 2017
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5828-8
  • Copyright © 2017 by ASME


The contribution of this paper is a distributed control approach for a class of heterogeneous multiagent systems with unknown leader dynamics. Considering fixed and directed communication graph topologies, we establish a global sufficient condition for uniform ultimate boundedness of the output tracking error between the output of each heterogeneous agent and the output of the leader. If, in addition, the output of the leader is constant, we show that uniform ultimate boundedness reduces to asymptotic synchronization. Several illustrative numerical examples are provided to demonstrate the efficacy of the proposed control architecture.

Copyright © 2017 by ASME



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