Name
Title | ||
|---|---|---|
Rendezvous With Connectivity Preservation For Multi-Robot Systems With An Unknown Leader |
Abstract | ||
|---|---|---|
This paper studies the leader-following rendezvous problem with connectivity preservation for multi-agent systems composed of uncertain multi-robot systems subject to external disturbances and an unknown leader, both of which are generated by a so-called exosystem with parametric uncertainty. By combining internal model design, potential function technique and adaptive control, two distributed control strategies are proposed to maintain the connectivity of the communication network, to achieve the asymptotic tracking of all the followers to the output of the unknown leader system, as well as to reject unknown external disturbances. It is also worth to mention that the uncertain parameters in the multi-robot systems and exosystem are further allowed to belong to unknown and unbounded sets when applying the second fully distributed control law containing a dynamic gain inspired by high-gain adaptive control or self-tuning regulator. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1080/00207179.2017.1285055 | INTERNATIONAL JOURNAL OF CONTROL |
Keywords | Field | DocType |
Multi-robot system, connectivity preservation, rendezvous, internal model design | Robotic systems,Regulator,Mathematical optimization,Telecommunications network,Control theory,Parametric statistics,Rendezvous,Adaptive control,Mathematics,Internal model,Rendezvous problem | Journal |
Volume | Issue | ISSN |
91 | 2 | 0020-7179 |
Citations | PageRank | References |
2 | 0.36 | 13 |
Authors | ||
1 | ||