Conference proceeding
Control of Formations with Nonlinear Non-Passive Actuation
2019 Fifth Indian Control Conference (ICC), pp.91-94
01/2019
DOI: 10.1109/INDIANCC.2019.8715628
Abstract
This paper considers the problem of cooperatively inducing a group of agents to achieve a rigid formation specified by a subset of interagent distances, by decentralized control: The agents have access to their relative positions with respect to their neighbors and their own velocity. Barring our work in [17], all previous papers have assumed that the actuation dynamics represented by the system relating the agent velocity to the control input is passive. On its part [17] relaxed this assumption to include systems that are linear time invariant (LTI) but not passive. In this paper we extend to nonlinear dynamics, and require that it and its inverse be \mathcal{L}_{2} -stable and have an asymptotically stable zero dynamics. We formulate a control algorithm and prove its local asymptotic stability.
Details
- Title: Subtitle
- Control of Formations with Nonlinear Non-Passive Actuation
- Creators
- Soura Dasgupta - University of Iowa
- Resource Type
- Conference proceeding
- Publication Details
- 2019 Fifth Indian Control Conference (ICC), pp.91-94
- DOI
- 10.1109/INDIANCC.2019.8715628
- Publisher
- IEEE
- Language
- English
- Date published
- 01/2019
- Academic Unit
- Electrical and Computer Engineering
- Record Identifier
- 9984197109502771
Metrics
14 Record Views