We address the agreement-based coordination of first-order multiagent systems interconnected over arbitrary connected undirected graphs and under transient and steady-state constraints. The system is in a leader-follower configuration where only a part of the agents, the leaders, are directly controlled via an external control input, in addition to the agreement protocol. We propose a control law for the leaders, based on the gradient of a potential function, that achieves consensus and guarantees that the trajectories of the inter-agent distances of the entire system remain bounded by a performance function. Relying on the edge-agreement framework and Lyapunov’s first method, we establish strong stability results in the sense of asymptotic stability of the consensus manifold and, in the leaderless case, nonuniform-in-time input-to-state stability with respect to additive disturbances. A numerical simulation illustrates the effectiveness of the proposed approach. ; QC 20220808


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    Title :

    On Asymptotic Stability of Leader–Follower Multiagent Systems Under Transient Constraints


    Contributors:

    Publication date :

    2022-01-01


    Remarks:

    Scopus 2-s2.0-85132776378



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629