Name
Abstract | ||
|---|---|---|
We study derivation of distributed control laws for the cohesive motion problem of multi-agent systems. In the literature, stability analysis of the established control laws for this objective are heavily dependent on the number of the agents and are left incomplete. We convert the original problem setup to an equivalent linear state regulation problem. We define the inter-agent relative position variables as system states and derive a linear system dynamics. State regulation of the system corresponds to solving the cohesive motion objective. Further, we design a distributed control law to regulate the system states, which eventually corresponds to an easy-to-implement, proportional control law for each agent. Finally, we derive a sufficient condition on the agent speed bounds for distance maintenance in minimally persistent formations. |
Year | DOI | Venue |
|---|---|---|
2016 | 10.1109/MED.2016.7535997 | Mediterranean Conference on Control and Automation |
Field | DocType | ISSN |
Motion control,Linear system,Proportional control,Linear-quadratic-Gaussian control,Control theory,Computer science,Control engineering,Adaptive control,Variable structure control,Sliding mode control | Conference | 2325-369X |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Guler, S. | 1 | 5 | 3.20 |
| Baris Fidan | 2 | 264 | 36.05 |
| Soura Dasgupta | 3 | 679 | 96.96 |