Connectivity and Set Tracking of Multi-agent Systems Guided by Multiple Moving Leaders

TL;DR

This paper studies how groups of agents can track a moving convex set defined by multiple leaders using distributed control, considering switching interaction networks and uncertainties.

Contribution

It provides necessary and sufficient conditions for set input-to-state stability and asymptotic tracking under switching directed topologies.

Findings

Established conditions for set input-to-state stability.

Derived criteria for asymptotic set tracking.

Analyzed the effects of network connectivity on tracking performance.

Abstract

In this paper, we investigate distributed multi-agent tracking of a convex set specified by multiple moving leaders with unmeasurable velocities. Various jointly-connected interaction topologies of the follower agents with uncertainties are considered in the study of set tracking. Based on the connectivity of the time-varying multi-agent system, necessary and sufficient conditions are obtained for set input-to-state stability and set integral input-to-state stability for a nonlinear neighbor-based coordination rule with switching directed topologies. Conditions for asymptotic set tracking are also proposed with respect to the polytope spanned by the leaders.