Three-Dimensional Consensus Path-Following for Second-Order Multi-Agent Networks

摘要

In this paper, we address a new consensus problem of coordinately steering a group of multi-agents under directed information flow along a three-dimensional reference path without temporal constraint. The spatial reference path is newly defined by algebraic implicit expressions and the path-following kinematic-error dynamics are then formulated for each agent using two path-following errors and a speed tracking error. Distinct from the stabilizing feedback control design of the path-following problem for a single agent, the proposed new feedback control algorithm augmented with consensus disagreement terms could achieve both the reference goal seeking and consensus during transition. To show effectiveness of the proposed concept, simulation results are included in the end.