Satisficing control for multi-agent formation maneuvers

被引：0
|
作者：
Ren, W [1 ]
Beard, RW [1 ]
Curtis, JW [1 ]
机构：
[1] Brigham Young Univ, Dept Elect & Comp Engn, Provo, UT 84602 USA
来源：
PROCEEDINGS OF THE 41ST IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4 | 2002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：
In this paper, robustly satisficing controls based on control Lyapunov functions are applied to multi-agent formation problems. We show that under certain conditions a group of satisficing control laws chosen from the robustly satisficing set can guarantee bounded formation keeping error, finite completion time, and read sonable formation velocity as well as inverse optimality and desirable stability margins. This technique is applied to a group of nonholonomic robots in simulation as a proof of concept.
引用
收藏
页码：2433 / 2438
页数：6
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