标题： 具有主动领导者和可变拓扑的多智能体一致性跟踪控制 显示英文标题

标题： Tracking control for multi-agent consensus with an active leader and variable topology

摘要： 本文研究了一组具有多个领导者的自主移动机器人的协调控制问题。不同的互联拓扑结构被探讨。首先，在固定互联拓扑的情况下证明了一个充要条件。然后在互联拓扑切换时提出一个充分条件。通过使用邻域规则的简单一阶动力学模型，这两个结果都表明代理组的行为将收敛到由领导者形成的多面体。 显示英文摘要

摘要： In this paper, we consider the coordination control of a group of autonomous mobile agents with multiple leaders. Different interconnection topologies are investigated. At first, a necessary and sufficient condition is proved in the case of fixed interconnection topology. Then a sufficient condition is proposed when the interconnection topology is switched. With a simple first-order dynamics model by using the neighborhood rule, both results show that the group behavior of the agents will converge to the polytope formed by the leaders.