Conference proceeding
Cohesive motion control as a regulation problem
2016 24th Mediterranean Conference on Control and Automation (MED), pp.1071-1076
06/2016
DOI: 10.1109/MED.2016.7535997
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.
Details
- Title: Subtitle
- Cohesive motion control as a regulation problem
- Creators
- Samet Guler - University of WaterlooBaris Fidan - University of WaterlooSoura Dasgupta - University of Iowa
- Resource Type
- Conference proceeding
- Publication Details
- 2016 24th Mediterranean Conference on Control and Automation (MED), pp.1071-1076
- DOI
- 10.1109/MED.2016.7535997
- Publisher
- IEEE
- Language
- English
- Date published
- 06/2016
- Academic Unit
- Electrical and Computer Engineering
- Record Identifier
- 9984197173602771
Metrics
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