- Tytuł:
- Decentralized multi-agent formation control with pole-region placement via cone-complementarity linearization
- Autorzy:
-
González, Antonio
Sala, Antonio
Armesto, Leopoldo - Powiązania:
- https://bibliotekanauki.pl/articles/2172117.pdf
- Data publikacji:
- 2022
- Wydawca:
- Uniwersytet Zielonogórski. Oficyna Wydawnicza
- Tematy:
-
multiagent autonomous system
formation control
linear matrix inequalities
cone complementarity linearization
system wieloagentowy
sterowanie formacją
liniowe nierówności macierzowe - Opis:
- 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.
- Źródło:
-
International Journal of Applied Mathematics and Computer Science; 2022, 32, 3; 415--428
1641-876X
2083-8492 - Pojawia się w:
- International Journal of Applied Mathematics and Computer Science
- Dostawca treści:
- Biblioteka Nauki
Artykuł