Autor:

González, Antonio ; Sala, Antonio ; Armesto, Leopoldo

Współtwórca:

Wiśniewski, Remigiusz - ed. ; Gomes, Luis - ed. ; Wan, Shaohua - ed.

Tytuł:

Decentralized multi-agent formation control with pole-region placement via cone-complementarity linearization

Podtytuł:

.

Tytuł publikacji grupowej:

AMCS, volume 32 (2022)

Temat i słowa kluczowe:

multi-agent autonomous system ; formation control ; decoupling ; linear matrix inequalities ; cone-complementarity linearization

Abstract:

An output-feedback decentralised formation control strategy is pursued under pole-region constraints, assuming that the agents have access to relative position measurements with respect to a set of neighbors in a graph describing the sensing topology. No communication between the agents is assumed; however, a shared one-way communication channel with a pilot is needed for steering tasks. Each agent has a separate copy of the same controller. ; A virtual structure approach is presented for the formation steering as a whole; actual formation control is established via cone-complementarity linearization algorithms for the appropriate matrix inequalities. In contrast to other research where only stable consensus is pursued, the proposed method allows us to specify settling-time, damping and bandwidth limitations via pole regions. In addition, a full methodology for the decoupled handling of steering and formation control is provided. Simulation results in the example section illustrate the approach.

Wydawca:

Zielona Góra: Uniwersytet Zielonogórski

Data wydania:

2022

Typ zasobu:

artykuł

DOI:

10.34768/amcs-2022-0030

Strony:

415-428

Źródło:

AMCS, volume 32, number 3 (2022) ; kliknij tutaj, żeby przejść

Jezyk:

eng

Licencja CC BY 4.0:

kliknij tutaj, żeby przejść

Prawa do dysponowania publikacją:

Biblioteka Uniwersytetu Zielonogórskiego