Distributed dynamic containment control over a strongly connected and weight-balanced digraph
| Autor: | Yi-Fan Chung, Solmaz S. Kia |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
Convex hull
0209 industrial biotechnology Strongly connected component Containment (computer programming) Group (mathematics) Computer science Distributed computing 020208 electrical & electronic engineering Topology (electrical circuits) Digraph 02 engineering and technology Directed graph 020901 industrial engineering & automation Control and Systems Engineering 0202 electrical engineering electronic engineering information engineering Robot |
| Zdroj: | IFAC-PapersOnLine. 52:25-30 |
| ISSN: | 2405-8963 |
| DOI: | 10.1016/j.ifacol.2019.12.137 |
| Popis: | This paper proposes a distributed containment control solution for a group of communicating mobile agents that aim to track the convex hull spanned by a group of moving leaders with unknown dynamics. The communication topology of the mobile agents is described by a strongly connected and weight-balanced directed graph. In our problem setting the agents can communicate in discrete-time and also detect the leaders in specific sampling times. Our next contribution in this paper is to show how a group of unicycle robots can use our proposed containment control algorithm to track the convex hull of their jointly monitoring mobile leaders. In our proposed framework, the unicycle robots have continuous-time dynamics but communicate with each other in discrete-time fashion. We demonstrate our results through a numerical example. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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