Min-max Time Consensus Tracking Over Directed Trees
نویسندگان
چکیده
In this paper, decentralized feedback control strategies are derived for min-max time consensus tracking of multi-agent systems with bounded inputs that are communicating over directed graphs. Each agent is a linear time invariant system with distinct and rational eigenvalues. The graph contains a directed spanning tree rooted at an agent which generates the reference trajectory for the other agents. This spanning tree is locally identified and the tail agent of each edge tries to match its states with that of the head of the edge in min-max possible time. Using recent Gröbner basis based methods by the authors, these local min-max time problems are solved by deriving Nash equilibrium feedback strategies for time optimal pursuit-evasion games. The local min-max strategies lead to global consensus tracking in min-max time under some conditions.
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