Stress-matrix-based formation scaling control
| Autor: | Hao Fang, Zhiyong Sun, Ming Cao, Qingkai Yang, Jie Chen |
|---|---|
| Přispěvatelé: | Discrete Technology and Production Automation |
| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Mathematical optimization STABILIZATION Control algorithm Computer science Universal rigidity Multi-agent system 020208 electrical & electronic engineering Multi-agent systems Stress matrix Estimator 02 engineering and technology MULTIAGENT SYSTEMS NETWORKS Constraint (information theory) 020901 industrial engineering & automation Control and Systems Engineering CONSENSUS PROBLEMS Formation control DISTRIBUTED FORMATION CONTROL 0202 electrical engineering electronic engineering information engineering Electrical and Electronic Engineering Control (linguistics) Scaling |
| Zdroj: | Automatica, 101, 120-127. PERGAMON-ELSEVIER SCIENCE LTD |
| ISSN: | 0005-1098 |
| DOI: | 10.1016/j.automatica.2018.11.046 |
| Popis: | This paper investigates the formation scaling control problem for multi-agent systems by utilizing the stress matrix associated with a universally rigid framework. Compared with the existing results on formation scaling control, we consider a more challenging scenario where only one agent has the knowledge of the desired formation size. To cope with this constraint, we first propose a distributed estimator for the remaining agents to estimate the scaling parameter. Then by employing the outputs of the estimator, we design a new class of formation scaling control algorithms for universally rigid frameworks such that the overall formation converges to the prescribed shape with the desired scaling. Numerical simulations are carried out to validate the theoretical results. (C) 2018 Elsevier Ltd. All rights reserved. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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