Decentralized cooperative control for swarm agents with high-order dynamics

Beibei Ren, Hailong Pei, Zhendong Sun, Shuzhi Sam Ge, Tong Heng Lee

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Abstract

In this paper, decentralized controllers are developed to drive a swarm of mobile agents with high-order (n>2) nonlinear dynamics in strict feedback form into a moving target region while avoiding collisions among themselves. It is important to consider coordination of multiple high-order agent dynamics which generalize the existing simple single-integrator/double-integrator ones because, in practice, we may need to incorporate actuator dynamics into the vehicle dynamics in order to achieve better performance, thus increasing the order of the system dynamics. The control design is based on a fusion of two kinds of new potential functions (target potential functions and collision avoidance potential functions), backstepping technique and Lyapunov synthesis. The presence of parametric uncertainties is handled by adaptive control techniques. The framework does not depend on a fixed ordering of agents, and is robust to individual agent failures. Therefore, flexibility and scalability are improved. Simulation results illustrate the performance of the proposed approach.

Original languageEnglish
Title of host publicationProceedings of the 2009 IEEE International Conference on Automation and Logistics, ICAL 2009
Pages90-95
Number of pages6
DOIs
StatePublished - 2009
Event2009 IEEE International Conference on Automation and Logistics, ICAL 2009 - Shenyang, China
Duration: Aug 5 2009Aug 7 2009

Publication series

NameProceedings of the 2009 IEEE International Conference on Automation and Logistics, ICAL 2009

Conference

Conference2009 IEEE International Conference on Automation and Logistics, ICAL 2009
CountryChina
CityShenyang
Period08/5/0908/7/09

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  • Cite this

    Ren, B., Pei, H., Sun, Z., Ge, S. S., & Lee, T. H. (2009). Decentralized cooperative control for swarm agents with high-order dynamics. In Proceedings of the 2009 IEEE International Conference on Automation and Logistics, ICAL 2009 (pp. 90-95). [5262969] (Proceedings of the 2009 IEEE International Conference on Automation and Logistics, ICAL 2009). https://doi.org/10.1109/ICAL.2009.5262969