Leader-following consensus of multi-agent systems under hierarchical nearly cyclic pursuit

摘要

In this paper, we solve the leader-following consensus problem using nearly cyclic pursuit (NCP) and a two-layer hierarchical nearly cyclic pursuit (HNCP). First, we design a control strategy based on the nearly cyclic pursuit(NCP) to enable the agents to rendezvous at a point. Second, we propose a two-layer HNCP for a leader-following consensus problem to increase the convergence rate of the network. We show that the two-layer HNCP outperforms the original NCP. Simulations illustrate the key theoretical results.