Cooperative Stabilization and Tracking for Linear Dynamic Systems
نویسنده
چکیده
A key problem in cooperative control is the convergence to a common value of the systems, which is called the consensus or agreement problem. Among recent results in cooperative control of multi-agent dynamic systems, the method used can be categorized in either graph theory or matrix theory based techniques, and the agent dynamics is either a single/double integrator or a linear system transformable to a canonical form. We design cooperative stabilization and tracking control in the framework of Lyapunov theorem for general linear dynamic systems. Decentralized control laws are explicitly constructed for individual systems with inter-system communications. Simulations show asymptotically tracking of a time-varying trajectory with pre-designated formation for a group of dynamic agents.
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