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Distributed Minimum Energy Leader-Follower Algorithm for Multi-Agent Systems with an Active Non-Homogenous Leader

机译：具有主动非均质引导者的多智能体系统的分布式最小能量引导者跟随算法

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摘要

In this paper, we consider a leader-follower problem for a group of homogeneous linear time invariant (LTI) follower agents that are interacting over a directed acyclic graph. In our problem of interest, only a subset of the follower agents has access to the state of the leader in specific sampling times. The dynamics of the leader that generates its states is unknown to the followers. For interaction topologies in which the leader is a global sink in the graph, we propose a distributed algorithm that allows the agents to arrive at the sampled state of the leader before the next sample arrives. We prove that the control input to take the followers from one sampled state to the next one is minimum energy for all the followers. We also show that after the first sampling epoch, the states of all the follower agents are synchronized with each other. We demonstrate the application of our proposed algorithm for two leader-follower problems for mobile agents. Our first example shows the application of our algorithm in control of unicycle robots in a formation motion. In the second example, we demonstrate the use of our algorithm for reference state tracking via a group of second order integrator followers with bounded control. In this example, we show that the properties of our proposed leader-follower algorithm allow us to design the arrival times at the reference states in such a way that the input bounds of the agents never get violated.
机译：在本文中，我们考虑了在有向无环图上相互作用的一组齐次线性时不变（LTI）从动代理的前导跟随问题。在我们感兴趣的问题中，只有一部分跟随者代理可以在特定的采样时间内访问领导者的状态。跟随者不知道产生状态的领导者的动态。对于领导者是图中全局接收器的交互拓扑，我们提出了一种分布式算法，该算法允许代理在下一个样本到达之前到达领导者的抽样状态。我们证明，将跟随者从一个采样状态转移到下一个状态的控制输入对于所有跟随者都是最小的能量。我们还显示，在第一个采样时期之后，所有跟随者代理的状态都彼此同步。我们演示了我们提出的算法在移动代理的两个领导者跟随问题中的应用。我们的第一个示例显示了我们的算法在编队运动中控制单轮机器人的应用。在第二个示例中，我们演示了如何通过一组带边界控制的二阶积分器跟随器将算法用于参考状态跟踪。在此示例中，我们证明了我们提出的前导跟随算法的属性使我们能够设计参考状态下的到达时间，以使代理的输入范围永不受到侵犯。

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