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In this paper, we consider a multi-agent consensus problem with an active leader and variable interconnection topology. The state of the considered leader not only keeps changing but also may not be measured. To track such a leader, a neighbor-based local controller together with a neighbor-based state-estimation rule is given for each autonomous agent.(More)
In this paper, we consider a leader-following consensus problem of a group of autonomous agents with time-varying coupling delays. Two different cases of coupling topologies are investigated. At first, a necessary and sufficient condition is proved in the case when the interconnection topology is fixed and directed. Then a sufficient condition is proposed(More)
—This note addresses a coordination problem of a multiagent system with jointly connected interconnection topologies. Neighbor-based rules are adopted to realize local control strategies for these continuous-time autonomous agents described by double integrators. Although the in-teragent connection structures vary over time and related graphs may not be(More)
Finite-time control of the robot system is studied through both state feedback and dynamic output feedback control. The effectiveness of the proposed approach is illustrated by both theoretic analysis and computer simulation. In addition to offering an alternative approach for improving the design of the robot regulator, this research also extends the study(More)
—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(More)
This paper extends the well-known concept, input-to-state stability (ISS), to finite-time control problems. In other words, a new concept, finite-time input-to-state stability (FTISS), along with related concepts such as finite-time input-output stability and finite-time small-gain theorems, is discussed, and then is applied to both the finite-time(More)