Position Centroid Rendezvous of Multiple Unicycle Agents

摘要：

　　This work investigates the position centroid rendezvous problem of multiple unicycle agents for the first time.By constructing a new output, the unicycle model is converted to canonical normal form via feedback linearization approach.Then, the centroid rendezvous control law is proposed, guaranteeing that all the agents globally meet at the common initial centroid location.The proposed control law is distributed, smooth and time-varying, ensuring the internal orientation states and the velocity inputs convergent to some fixed values and zero respectively.The result is proved under the communication scenarios of fixed directed balanced graph with a spanning tree.Simulation result verifies the effectiveness of the proposed control scheme.

关键词： multiple unicycle agents distributed control position centroid rendezvous

作者: Xie Wenjing Ma Baoli

作者单位: The Seventh Research Division, School of Automation Science and Electrical Engineering, Beihang University, Beijing, 100191

会议类型: 国内会议

会议名称: 西南大学2014年全国博士生学术论坛(电子技术与信息科学领域)

会议地点: 重庆

会议语种:英文

页码: 115-120

在线出版日期: 2014-12-01（万方平台首次上网日期，不代表论文的发表时间）