@inproceedings{51fa08debd5a478191133bc00f59d890,
title = "Distributed formation control for a leader-follower structure on directed graphs with a model unknown leader",
abstract = "To deal with leader-follower formation of multi-agent systems with a leader whose dynamics are unknown, a consensus based method is presented to achieve formation keeping for a directed graph. We divide the followers into two parts according to path distance. For the followers connected to the leader, a state-feedback regulation is applied. Then the directed graph is reconstructed and a consensus based method is designed. The controller is implemented in a fully distributed form because each follower only uses the relative and local information. Finally, numerical simulations applying this method to time-varying formation and trajectory tracking are performed. The results validate the effectiveness of the proposed method.",
keywords = "Consensus, Formation control, Multi-agent systems",
author = "Yuanjin Yu and Chunyan Wang and Zhenqiang Qi and Zhengtao Ding and Xin Yin",
note = "Publisher Copyright: {\textcopyright} 2018 Technical Committee on Control Theory, Chinese Association of Automation.; 37th Chinese Control Conference, CCC 2018 ; Conference date: 25-07-2018 Through 27-07-2018",
year = "2018",
month = oct,
day = "5",
doi = "10.23919/ChiCC.2018.8483936",
language = "English",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "6890--6895",
editor = "Xin Chen and Qianchuan Zhao",
booktitle = "Proceedings of the 37th Chinese Control Conference, CCC 2018",
address = "United States",
}