Leader-following consensus of nonlinear multi-agent systems based on position and velocity estimations

Mahsa Mohammadi; Mahdi Baradarannia; Ali Farzamnia

doi:10.1109/ICCIA52082.2021.9403587

Leader-following consensus of nonlinear multi-agent systems based on position and velocity estimations

Mahsa Mohammadi, Mahdi Baradarannia, Ali Farzamnia

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Citations (Scopus)

Abstract

In this paper, leader-following consensus problem of nonlinear multi-agent systems is studied. In order to obtain control law in multi-agent systems, usually agents' information should be exactly known, which may not be available in real applications. In this work, a method is proposed to estimate the position and velocity of agents with arbitrary initial conditions of followers and leaders. Then, the estimations are used to obtain a consensus control law. At first, a single integrator nonlinear multi-agent system with a leader is considered, and a consensus law is proposed using followers' position estimations. Then, for a double integrator nonlinear system, a controller is obtained based on position and velocity estimations. Several simulations are performed to validate the proposed method.

Original language	English
Title of host publication	2021 7th International Conference on Control, Instrumentation and Automation, ICCIA 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
Number of pages	7
ISBN (Electronic)	9781665403504
ISBN (Print)	9781665430012
DOIs	https://doi.org/10.1109/ICCIA52082.2021.9403587
Publication status	Published - 16 Apr 2021
Externally published	Yes
Event	7th International Conference on Control, Instrumentation and Automation, - Tabriz, Iran, Islamic Republic of Duration: 23 Feb 2021 → 24 Feb 2021 Conference number: 7

Conference

Conference	7th International Conference on Control, Instrumentation and Automation,
Abbreviated title	ICCIA 2021
Country/Territory	Iran, Islamic Republic of
City	Tabriz
Period	23/02/21 → 24/02/21

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Mohammadi, M., Baradarannia, M., & Farzamnia, A. (2021). Leader-following consensus of nonlinear multi-agent systems based on position and velocity estimations. In 2021 7th International Conference on Control, Instrumentation and Automation, ICCIA 2021 Article 9403587 Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCIA52082.2021.9403587

@inproceedings{904bd89218b143c4bce301c987828104,

title = "Leader-following consensus of nonlinear multi-agent systems based on position and velocity estimations",

abstract = "In this paper, leader-following consensus problem of nonlinear multi-agent systems is studied. In order to obtain control law in multi-agent systems, usually agents' information should be exactly known, which may not be available in real applications. In this work, a method is proposed to estimate the position and velocity of agents with arbitrary initial conditions of followers and leaders. Then, the estimations are used to obtain a consensus control law. At first, a single integrator nonlinear multi-agent system with a leader is considered, and a consensus law is proposed using followers' position estimations. Then, for a double integrator nonlinear system, a controller is obtained based on position and velocity estimations. Several simulations are performed to validate the proposed method.",

keywords = "Leader-follower consensus, Multi-agent systems, Velocity and position estimations",

author = "Mahsa Mohammadi and Mahdi Baradarannia and Ali Farzamnia",

note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 7th International Conference on Control, Instrumentation and Automation,, ICCIA 2021 ; Conference date: 23-02-2021 Through 24-02-2021",

year = "2021",

month = apr,

day = "16",

doi = "10.1109/ICCIA52082.2021.9403587",

language = "English",

isbn = "9781665430012",

booktitle = "2021 7th International Conference on Control, Instrumentation and Automation, ICCIA 2021",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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}

Mohammadi, M, Baradarannia, M & Farzamnia, A 2021, Leader-following consensus of nonlinear multi-agent systems based on position and velocity estimations. in 2021 7th International Conference on Control, Instrumentation and Automation, ICCIA 2021., 9403587, Institute of Electrical and Electronics Engineers Inc., 7th International Conference on Control, Instrumentation and Automation, Tabriz, Iran, Islamic Republic of, 23/02/21. https://doi.org/10.1109/ICCIA52082.2021.9403587

Leader-following consensus of nonlinear multi-agent systems based on position and velocity estimations. / Mohammadi, Mahsa; Baradarannia, Mahdi; Farzamnia, Ali.
2021 7th International Conference on Control, Instrumentation and Automation, ICCIA 2021. Institute of Electrical and Electronics Engineers Inc., 2021. 9403587.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Leader-following consensus of nonlinear multi-agent systems based on position and velocity estimations

AU - Mohammadi, Mahsa

AU - Baradarannia, Mahdi

AU - Farzamnia, Ali

N1 - Conference code: 7

PY - 2021/4/16

Y1 - 2021/4/16

N2 - In this paper, leader-following consensus problem of nonlinear multi-agent systems is studied. In order to obtain control law in multi-agent systems, usually agents' information should be exactly known, which may not be available in real applications. In this work, a method is proposed to estimate the position and velocity of agents with arbitrary initial conditions of followers and leaders. Then, the estimations are used to obtain a consensus control law. At first, a single integrator nonlinear multi-agent system with a leader is considered, and a consensus law is proposed using followers' position estimations. Then, for a double integrator nonlinear system, a controller is obtained based on position and velocity estimations. Several simulations are performed to validate the proposed method.

AB - In this paper, leader-following consensus problem of nonlinear multi-agent systems is studied. In order to obtain control law in multi-agent systems, usually agents' information should be exactly known, which may not be available in real applications. In this work, a method is proposed to estimate the position and velocity of agents with arbitrary initial conditions of followers and leaders. Then, the estimations are used to obtain a consensus control law. At first, a single integrator nonlinear multi-agent system with a leader is considered, and a consensus law is proposed using followers' position estimations. Then, for a double integrator nonlinear system, a controller is obtained based on position and velocity estimations. Several simulations are performed to validate the proposed method.

KW - Leader-follower consensus

KW - Multi-agent systems

KW - Velocity and position estimations

UR - https://www.scopus.com/pages/publications/85105007510

U2 - 10.1109/ICCIA52082.2021.9403587

DO - 10.1109/ICCIA52082.2021.9403587

M3 - Conference contribution

AN - SCOPUS:85105007510

SN - 9781665430012

BT - 2021 7th International Conference on Control, Instrumentation and Automation, ICCIA 2021

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 7th International Conference on Control, Instrumentation and Automation,

Y2 - 23 February 2021 through 24 February 2021

ER -

Leader-following consensus of nonlinear multi-agent systems based on position and velocity estimations

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