Abstract
Considering the problem that does all the information have the same effect on the control performance of multi-agent system, this paper analyzes the influence of leader state on closed loop dynamics of formation theoretically. For the first time, it is proved that the leader information can mask out the effect of others and the closed loop dynamics of formation is equivalent to the leader follower topology if all followers can receive the leader information and others. Based on this new foundation, an estimator for leader state is designed using the sliding mode control theory. This estimator is independent of the dynamical functions of agents and only the minimum eigenvalue of topological matrix is required to ensure the convergence of estimation error even when leader runs dynamically. Several simulations have been conducted to further validate the correctness of this new theoretical foundation and the effectiveness of the estimator based formation control strategy.
Published Version
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