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| Received:September 19, 2011Revised:January 06, 2012 |
| 基金项目:This work was supported by the National Natural Science Foundation of China (Nos. 61075065, 60774045, U1134108), the Ph.D. Programs Foundation of Ministry of Education of China (No. 20110162110041), and Hunan Provincial Innovation Foundation For Postgraduate (No. CX2011B086). |
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| Leader-following consensus of multi-agent systems with switching topologies and time-delays |
| Ling GUO,Xiaohong NIAN,Huan PAN |
| (School of Information Science and Engineering, Central South University) |
| Abstract: |
| This paper investigates the leader-following consensus problem of multi-agent systems where the leader is static and the controlling effect of each follower depends on its own state. The control protocols are proposed for two cases: i) for network with switching topologies and undirected information flow; ii) for network with directed information flow and communication time-delays. With the aid of several tools from algebraic graph, matrix theory and stability theory, the sufficient conditions guaranteeing leader-following consensus are obtained by constructing appropriate Lyapunov functions. Simulations are presented to demonstrate the effectiveness of our theoretical results. |
| Key words: Leader-following consensus Multi-agent systems Switching topology Time-delays |
