A generalized hierarchical nearly cyclic pursuit for the leader-following consensus problem in multi-agent systems

Muhammad Iqbal; John Leth; Trung D. Ngo

doi:10.1177/0142331216686157

A generalized hierarchical nearly cyclic pursuit for the leader-following consensus problem in multi-agent systems

Muhammad Iqbal^*, John Leth, Trung D. Ngo

^*Corresponding author for this work

Research output: Contribution to journal › Journal article › Research › peer-review

5 Citations (Scopus)

Abstract

In this paper, we solve the leader-following consensus problem using a hierarchical nearly cyclic pursuit (HNCP) strategy for multi-agent systems. We extend the nearly cyclic pursuit strategy and the two-layer HNCP to the generalized L-layer HNCP that enables the agents to rendezvous at a point dictated by a beacon. We prove that the convergence rate of the generalized L-layer HNCP for the leader-following consensus problem is faster than that of the nearly cyclic pursuit. Simulation results demonstrate the effectiveness of the proposed method.

Original language	English
Journal	Transactions of the Institute of Measurement and Control
Volume	40
Issue number	5
Pages (from-to)	1529-1537
Number of pages	9
ISSN	0142-3312
DOIs	https://doi.org/10.1177/0142331216686157
Publication status	Published - 1 Mar 2018

Keywords

hierarchical nearly cyclic pursuit
leader-following consensus
Multi-agent systems
nearly cyclic pursuit

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title = "A generalized hierarchical nearly cyclic pursuit for the leader-following consensus problem in multi-agent systems",

abstract = "In this paper, we solve the leader-following consensus problem using a hierarchical nearly cyclic pursuit (HNCP) strategy for multi-agent systems. We extend the nearly cyclic pursuit strategy and the two-layer HNCP to the generalized L-layer HNCP that enables the agents to rendezvous at a point dictated by a beacon. We prove that the convergence rate of the generalized L-layer HNCP for the leader-following consensus problem is faster than that of the nearly cyclic pursuit. Simulation results demonstrate the effectiveness of the proposed method.",

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AU - Leth, John

AU - Ngo, Trung D.

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Y1 - 2018/3/1

N2 - In this paper, we solve the leader-following consensus problem using a hierarchical nearly cyclic pursuit (HNCP) strategy for multi-agent systems. We extend the nearly cyclic pursuit strategy and the two-layer HNCP to the generalized L-layer HNCP that enables the agents to rendezvous at a point dictated by a beacon. We prove that the convergence rate of the generalized L-layer HNCP for the leader-following consensus problem is faster than that of the nearly cyclic pursuit. Simulation results demonstrate the effectiveness of the proposed method.

AB - In this paper, we solve the leader-following consensus problem using a hierarchical nearly cyclic pursuit (HNCP) strategy for multi-agent systems. We extend the nearly cyclic pursuit strategy and the two-layer HNCP to the generalized L-layer HNCP that enables the agents to rendezvous at a point dictated by a beacon. We prove that the convergence rate of the generalized L-layer HNCP for the leader-following consensus problem is faster than that of the nearly cyclic pursuit. Simulation results demonstrate the effectiveness of the proposed method.

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KW - leader-following consensus

KW - Multi-agent systems

KW - nearly cyclic pursuit

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JF - Transactions of the Institute of Measurement and Control

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A generalized hierarchical nearly cyclic pursuit for the leader-following consensus problem in multi-agent systems

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Keywords

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