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
相关论文
共 50 条
  • [31] Multi-agent formation control using angle measurements
    Chen, Liangming
    Cao, Ming
    Li, Chuanjiang
    Cheng, Xiaodong
    Kapitanyuk, Yuri
    2019 AMERICAN CONTROL CONFERENCE (ACC), 2019, : 59 - 64
  • [32] Formation Control of Multi-agent Systems with Direction Adjustment
    Tang, Yang
    Li, Zhen
    Miao, Qingying
    2017 11TH ASIAN CONTROL CONFERENCE (ASCC), 2017, : 315 - 320
  • [33] Formation Control for Multi-agent System with Topology Reorganization
    Rui, Ren
    Xun, Zhou
    PROCEEDINGS OF THE SECOND INTERNATIONAL SYMPOSIUM ON TEST AUTOMATION AND INSTRUMENTATION, VOL 4, 2008, : 2222 - 2227
  • [34] Circle formation control for multi-agent systems with a leader
    Zhao L.
    Ma D.
    Control Theory and Technology, 2015, 13 (1) : 82 - 88
  • [35] Distributed Formation Control of Multi-Agent via Abstraction
    Li, Huanhuan
    Liu, Tengfei
    Jiang, Zhong-Ping
    2021 PROCEEDINGS OF THE 40TH CHINESE CONTROL CONFERENCE (CCC), 2021, : 5598 - 5603
  • [36] Robust formation control for uncertain multi-agent systems
    Chen, Jintao
    Shi, Zongying
    Zhong, Yisheng
    JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2019, 356 (15): : 8237 - 8254
  • [37] Formation Control of Multi-agent Systems in an Uncertain Environment
    DeLellis, Pietro
    Garofalo, Franco
    Lo Iudice, Francesco
    2020 EUROPEAN CONTROL CONFERENCE (ECC 2020), 2020, : 454 - 458
  • [38] Distributed rotating formation control of multi-agent systems
    Lin, Peng
    Jia, Yingmin
    SYSTEMS & CONTROL LETTERS, 2010, 59 (10) : 587 - 595
  • [39] Multi-Agent Formation Control based on Virtual Forces
    Xu, Kai
    Qin, Long
    2015 5TH INTERNATIONAL CONFERENCE ON INFORMATION SCIENCE AND TECHNOLOGY (ICIST), 2015, : 284 - 291
  • [40] Control of Multi-Agent Formation with Optimally Persistent Graph
    Shao, Shikai
    Luo, Xiaoyuan
    Jin, Tao
    Guan, Xinping
    PROCEEDINGS OF THE 2012 24TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC), 2012, : 152 - 157
12345