Containment in Leader-Follower Networks with Switching Communication TopologiesReportar como inadecuado


Containment in Leader-Follower Networks with Switching Communication Topologies


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We study bipartite, first-order networks where the nodes take on leader or follower roles. Specifically, we let the leaders- positions bestatic and assume that leaders and followers communicate via an undirected switching graph topology. This assumption is inspired by theswarming behavior of Silkworm moths, where female moths intermittently release pheromones to be detected by the males. The mainresult presented here states that if the followers execute the linear agreement protocol, they will converge to the convex hull spanned bythe leaders- positions as long as the time-vary undirected graph defining the communication among all agents is jointly connected. Thenovelty of this research is that we use Lasalle-s invariance principle for switched systems, and additionally, the result is shown to holdfor arbitrary state dimensions.



Georgia Robotics and InTelligent Systems Laboratory GRITS - Georgia Robotics and InTelligent Systems Laboratory GRITS Publications -



Autor: Notarstefano, Giuseppe - Egerstedt, Magnus B. - Haque, Musad A. - -

Fuente: https://smartech.gatech.edu/







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