Practical consensus tracking of multi-agent systems with linear controllers
| Autor: | Patrick Coirault, Qishuai Liu, Emmanuel Bernuau, Fayrouz Isfoula, Emmanuel Moulay, Qing Hui |
|---|---|
| Přispěvatelé: | Laboratoire d'Informatique et d'Automatique pour les Systèmes (LIAS), Université de Poitiers-ENSMA, Ingénierie, Procédés, Aliments (GENIAL), Institut National de la Recherche Agronomique (INRA)-AgroParisTech, Systèmes et Réseaux Intelligents (XLIM-SRI), XLIM (XLIM), Université de Limoges (UNILIM)-Centre National de la Recherche Scientifique (CNRS)-Université de Limoges (UNILIM)-Centre National de la Recherche Scientifique (CNRS), University of Nebraska [Lincoln], University of Nebraska System |
| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Computer science Multi-agent system 020208 electrical & electronic engineering Control (management) Stability (learning theory) Fixed topology Mobile robot 02 engineering and technology Tracking (particle physics) 020901 industrial engineering & automation Control theory [INFO.INFO-MA]Computer Science [cs]/Multiagent Systems [cs.MA] [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering Convergence (routing) 0202 electrical engineering electronic engineering information engineering Protocol (object-oriented programming) ComputingMilieux_MISCELLANEOUS |
| Zdroj: | IEEE Proceedings of the 18th European Control Conference 2019 18th European Control Conference (ECC) 2019 18th European Control Conference (ECC), Jun 2019, Naples, Italy. pp.3028-3033, ⟨10.23919/ECC.2019.8795734⟩ ECC 2019 18th European Control Conference (ECC), Jun 2019, Naples, Italy. pp.3028-3033 |
| DOI: | 10.23919/ECC.2019.8795734⟩ |
| Popis: | International audience; The second-order practical consensus tracking of multi-agent systems with a fixed topology and a varying leader's velocity is obtained by using a linear control strategy and the input-to-state stability framework. Then, a new control protocol is proposed where the leader, called a perceptive leader, receives information from its followers. Finally, a study is provided in simulation and on a fleet of mobile robots showing the effectiveness of non perceptive and perceptive strategies in terms of speed of convergence, precision and connectivity maintenance. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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