Containment Control of Networked Lagrange Systems with Group Dispersion and Cohesion Behaviors

摘要：

In this paper,distributed containment control with group dispersion and cohesion behaviors are discussed for a group of Lagrange systems.Both the cases of constant leaders’generalized coordinate derivatives and time-varying leaders’generalized coordinate derivatives are considered.The proposed control algorithms are shown to obtain velocity matching,connectivity maintenance and collision avoidance.In addition,the sum of the steady-state distances between followers and the convex hull formed by the leaders is shown to be bounded and this bound is explicitly given.

作者: MENG Ziyang LIN Zongli REN Wei

作者单位: Department of Automation,Shanghai Jiao Tong University,and Key Laboratory of System Control and Info Charles L.Brown Department of Electrical and Computer Engineering,University of Virginia,P.O.Box 400 Department of Electrical and Computer Engineering,Utah State University,Logan,UT 84322,U.S.A.

会议类型: 国际会议

会议名称: The 30th Chinese Control Conference(第三十届中国控制会议)

会议地点: 烟台

会议语种:英文

页码: 1-6

在线出版日期: 2011-07-01（万方平台首次上网日期，不代表论文的发表时间）