Abstract
In this paper, we solve the leader-following consensus problem using nearly cyclic pursuit (NCP) and a two-layer hierarchical nearly cyclic pursuit (HNCP). First, we design a control strategy based on the nearly cyclic pursuit(NCP) to enable the agents to rendezvous at a point. Second, we propose a two-layer HNCP for a leader-following consensus problem to increase the convergence rate of the network. We show that the two-layer HNCP outperforms the original NCP. Simulations illustrate the key theoretical results.
Originalsprog | Engelsk |
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Titel | 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 |
Antal sider | 6 |
Vol/bind | 2016-September |
Forlag | IEEE |
Publikationsdato | 26 sep. 2016 |
Sider | 1073-1078 |
Artikelnummer | 7576912 |
ISBN (Elektronisk) | 9781509020652 |
DOI | |
Status | Udgivet - 26 sep. 2016 |
Begivenhed | 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 - Banff, Canada Varighed: 12 jul. 2016 → 15 jul. 2016 |
Konference
Konference | 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 |
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Land/Område | Canada |
By | Banff |
Periode | 12/07/2016 → 15/07/2016 |