Containment in Leader-Follower Networks with Switching Communication Topologies

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/38867

Title: Containment in Leader-Follower Networks with Switching Communication Topologies
Author: Notarstefano, Giuseppe ; Egerstedt, Magnus B. ; Haque, Musad A.
Abstract: We study bipartite, first-order networks where the nodes take on leader or follower roles. Specifically, we let the leaders' positions be static and assume that leaders and followers communicate via an undirected switching graph topology. This assumption is inspired by the swarming behavior of Silkworm moths, where female moths intermittently release pheromones to be detected by the males. The main result presented here states that if the followers execute the linear agreement protocol, they will converge to the convex hull spanned by the leaders' positions as long as the time-vary undirected graph defining the communication among all agents is jointly connected. The novelty of this research is that we use Lasalle's invariance principle for switched systems, and additionally, the result is shown to hold for arbitrary state dimensions.
Description: NOTICE: this is the author’s version of a work that was accepted for publication in Automatica. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in Automatica, Volume 47, Issue 5, May 2011, Pages 1035-1040, DOI: 10.1016/j.automatica.2011.01.077
Type: Pre-print
URI: http://hdl.handle.net/1853/38867
ISSN: 0005-1098
Citation: G. Notarstefano, M. Egerstedt, and M. Haque. Containment in Leader-Follower Networks with Switching Communication Topologies. Automatica. Accepted for publication. To appear 2011.
Date: 2011
Contributor: Georgia Institute of Technology. School of Electrical and Computer Engineering
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Università degli studi di Lecce. Dipartimento di Ingegneria
Publisher: Georgia Institute of Technology
Elsevier
Subject: Multi-agent coordination
Leader-follower networks
Containment

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