General formation control for multi-agent systems with double-integrator dynamics
Rattachement africain : cn. Niveau de preuve : code pays fourni par la source.
Le résumé fourni par la source
We study the general formation problem for a group of mobile agents in a plane, in which the agents are required to maintain a distribution pattern, as well as to rotate around or remain static relative to a static/moving target. The prescribed distribution pattern is a class of general formations that the distances between neighboring agents or the distances from each agent to the target do not need to be equal. Each agent is modeled as a double integrator and can merely perceive the relative information of the target and its neighbors. A distributed control law is designed using the limit-cycle based idea to solve the problem. One merit of the controller is that it can be implemented by each agent in its Frenet-Serret frame so that only local information is utilized without knowing global information. Theoretical analysis is provided of the equilibrium of the N-agent system and of the convergence of its converging part. Numerical simulations are given to show the effectiveness and performance of the proposed controller.
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Le contrôle bibliographique ouvert
Où se fait cette recherche
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Peking University National Engineering Research Center for Software Engineering pays non établi dans la noticeUniversité ou école supérieure
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Dalian University of Technology pays non établi dans la noticeUniversité ou école supérieure
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Dalian University pays non établi dans la noticeUniversité ou école supérieure
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College of Engineering Laboratory of Tur-bulence and Complex Systems pays non établi dans la noticeUniversité ou école supérieure
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School of Control Science and Engi-neering pays non établi dans la noticeUniversité ou école supérieure
National Engineering Research Center for Software Engineering — Peking University, Dalian University of Technology et Dalian University, avec 2 autres affiliations.
Une affiliation ne permet pas de déduire la nationalité d’un auteur.