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This paper addresses the distributed MPC (model predictive control) for a set of linear local systems with decoupled dynamics and a coupled global cost function. A previous approach is improved. For each local controller, the infinite horizon control moves are parameterized as a series of free control moves followed by a single state feedback law. An interacting stability condition is derived, disassembled...
The main challenge in swarm robots area coverage searching is how to design an efficient algorithm with self-organized and decentralized property. This paper proposed a dynamic Voronoi-based algorithm to solve the area coverage searching problem in decentralized control of sensors-based swarm robots. In the beginning, local coordinate system is established by initial position and the target area of...
This paper studies the consensus problem for a class of nonlinear multi-agent systems with communication constraints. By designing a suitable distributed cooperative controller, all followers synchronize to the leader asymptotically if the communication rate is larger than a threshold value for each time interval. Meanwhile, the switching topology is considered, which is more coincident with the real...
In this paper, the distributed control of the LQR problem for continuous-time multi-agent systems is considered. Based on the centralized optimal control, we prove that the solution of the ARE is the maximal solution of the algebraic Riccati inequality. The algebraic relations of the solutions of the AREs for different weighted matrices are shown and the two distributed controllers are designed: the...
This paper addresses an estimator design problem of coordination control of multi-agent systems involving multiple targets, where the targets can be either stationary or moving. We first introduce the definitions of the estimator converging asymptotically and the estimator converging in finite-time. Then two constraint conditions for the central estimators are built, which are used to determine the...
In this paper circular formation of a network of mobile agents with input saturation is considered. The goal is to drive the mobile agents to the configuration such that the distance between neighboring agents on a circle is consistent with prescribed distance. Distributed formation control laws with saturation constraints are developed which not only drive the agents to the desired configuration,...
In this paper, we propose a distributed consensus control protocol which extends the first order system results of Ren and Beard (2005) to agents represented by a general higher order controllable linear system, under the same network connectivity assumption that the union of the directed interaction graphs contains a spanning tree frequently enough. We show that the consensus can be achieved asymptotically...
This paper considers the consensus problem of leader-following multi-agent systems under the undirected and connected interaction topology. The dynamics of agents is modeled by the general form of linear system. It is assumed that only a subset of the following agents can access to the state information of the leader, all following agents can not access to the bounded reference input of the leader,...
This paper is concerned with the distributed adaptive consensus protocol design problem for linear multi-agent systems with directed graphs in the presence of a leader with nonzero but unknown control input. By introducing appropriate nonsmooth functions, a novel adaptive consensus protocol is proposed, under which leader-follower consensus can be achieved for any communication graph containing a...
This paper discusses the output consensus problem of tracking a desired trajectory for a class of nonlinear multi-agent systems in non-affine pure-feedback form. An adaptive distributed control scheme is designed recursively by employing back-stepping method, dynamic surface control (DSC) technique, neutral networks (NNs) and graph theory. The precise knowledge of the uncertainties of the system is...
This paper addresses the output feedback control problem of networked robot systems characterized by Lagrangian function. Distributed observers are established to estimate the velocities of the agents by only using position information. It is shown that the estimated velocities can converge to their true values under the condition that the position information of the agents are uniformly bounded....
This paper presents a cyclic-small-gain approach to distributed control of nonlinear multi-agent systems in the strict-feedback form for output agreement. Through a novel nonlinear control law design, the output agreement problem is transformed into a stabilization problem, and the closed-loop multi-agent system is transformed into a large-scale system composed of input-to-output stable (IOS) subsystems...
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