|Flocking for Multi-agent Systems with Optimally Rigid Topology Based on InformationWeighted Kalman Consensus Filter
Xiaoyuan Luo*, Xiaolei Li, Shaobao Li, Zhongping Jiang, and Xinping Guan
International Journal of Control, Automation, and Systems, vol. 15, no. 1, pp.138-148, 2017
Abstract : "This paper investigates the leader-follower flocking problem of multi-agent systems. The leader with
input noise is estimated by a proposed continuous-time information weighted Kalman consensus filter (IWKCF)
for agents. A novel distributed flocking algorithm based on the IWKCF is further presented to make agents achieve
flocking to the leader. It is shown that the proposed flocking algorithm based on the continuous-time IWKCF
is asymptotically stable. Applying the topology optimization scheme, the communication complexity of system
topologies of multi-agent systems is effectively reduced. Finally, simulations are provided to demonstrate the
effectiveness of the proposed results."
Consensus estimation, flocking control, multi-agent systems, topology optimization.
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