Distributed Nonlinear Control of Mobile Autonomous Multi-Agents
This paper studies the distributed nonlinear control of mobile autonomous agents with variable and directed topology.A new distributed nonlinear design scheme is presented for multi-agent systems modeled by double-integrators.With the new design,the outputs of the controlled agents asymptotically converge to each other,as long as a mild connectivity condition is satisfied.Moreover,the velocity (derivative of the output) of each agent can be restricted to be within any specified neighborhood of the origin,which is of practical interest for systems under such physical constraint.The new design is still valid if one of the agents is a leader,and in this case,the outputs of the followers asymptotically converge to the output of the leader.
Distributed control multi-agent systems output agreement flexible topology
LIU Tengfei JIANG Zhong-Ping
Northeastern University,Shenyang,110004,China New York University,5 MetroTech Center,Brooklyn,NY 11201,USA
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
1728-1733
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）