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Consensus tracking for multi-vehicle system with a well-informed leader: Adaptive control method

By referring to adaptive control method, the consensus tracking problem for multi-vehicle system with a well-informed leader is discussed. The graph can be directed, which means that each vehicle communicate with some others by following specified information exchange rules. The uncertainties of information exchange rules between agents are regarded as perturbations. In this paper, we propose an improved adaptive control method for consensus tracking to compensate such perturbation. All the vehicles can track a constant reference by using our proposed method, even if topology of the specified graph is time-varying. Furthermore the feedback control gain of the leader can be given by solving linear matrix inequalities(LMIs). Numerical simulations are also given to illustrate the effectiveness of the proposed method.