Control of Multiagent Systems under Persistent Disturbances

被引：0

作者：

Yucelen, Tansel ^{[1
]}

Egerstedt, Magnus ^{[2
]}

机构：

[1] Georgia Inst Technol, Sch Aerosp Engn, Atlanta, GA 30332 USA

[2] Georgia Inst Technol, Sch Elect & Comp Engn, Atlanta, GA 30332 USA

来源：

2012 AMERICAN CONTROL CONFERENCE (ACC) | 2012年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper focuses on the consensus and formation problems of multiagent systems under unknown, persistent disturbances. Specifically, we propose a method that combines an existing consensus (or formation) algorithm with a new controller. The new controller has an integral action that produces a control input based on an error signal locally projected onto the column space of the graph Laplacian. This action allows agents to achieve a consensus or a predetermined formation objective under constant or time-varying disturbances.

引用

页码：5264 / 5269

页数：6

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