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arXiv · 1610.01553

Coordination of Heterogeneous Nonlinear Multi-Agent Systems with Prescribed Behaviors

Yutao Tang
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Abstract

In this paper, we consider a coordination problem for a class of heterogeneous nonlinear multi-agent systems with a prescribed input-output behavior which was represented by another input-driven system. In contrast to most existing multi-agent coordination results with an autonomous (virtual) leader, this formulation takes possible control inputs of the leader into consideration. First, the coordination was achieved by utilizing a group of distributed observers based on conventional assumptions of model matching problem. Then, a fully distributed adaptive extension was proposed without using the input of this input-output behavior. An example was given to verify their effectiveness.

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Yutao Tang. 2016-10-05. Coordination of Heterogeneous Nonlinear Multi-Agent Systems with Prescribed Behaviors. https://doi.org/10.1080/00207179.2016.1239839

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