Consensus in Multi-agent Nonholonomic Systems With Relative Velocity And Orientation
| Autor: | You-li Wu, Sheng-Tao Ye, Sheng-Yi Zhu, Zhang Danxu, Yangwang Fang |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
Nonholonomic system
0209 industrial biotechnology Flocking (behavior) Computer science Social connectedness 020208 electrical & electronic engineering Relative velocity 02 engineering and technology Topology Graph Computer Science::Multiagent Systems Algebraic graph theory 020901 industrial engineering & automation Consensus 0202 electrical engineering electronic engineering information engineering Graph (abstract data type) Flocking (texture) |
| Zdroj: | 2018 Chinese Automation Congress (CAC). |
| DOI: | 10.1109/cac.2018.8623257 |
| Popis: | In this paper, a novel distributed consensus control protocol with relative velocity and orientation for multi-agent nonholonomic systems has been proposed. On the basis of the relative measurement of nearby agents, the proposed protocol can ensure leader-follower results and three flocking rules. Besides, by using tools from algebraic graph theory and non-smooth analysis, the range of control gain to preserve the connectedness of the graph and realize consensus is obtained. Finally, some numerical simulations are provided to illustrate the above theoretical results. |
| Databáze: | OpenAIRE |
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