TY - GEN
T1 - Region tracking control for multi-agent systems with high-order dynamics
AU - Ren, Beibei
AU - Ge, Shuzhi Sam
AU - Lee, Tong Heng
AU - Krstic, Miroslav
PY - 2013
Y1 - 2013
N2 - In this paper, decentralized controllers are developed to drive a swarm of mobile agents with high-order (m > 2) nonlinear dynamics in strict feedback form into a moving target region while avoiding collisions among themselves. At the same time, the connectivity of the communication graph remains for all time. 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 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 potential functions, backstepping technique and Lyapunov synthesis. The presence of parametric uncertainties is handled by adaptive control techniques. Simulation studies have been carried out to verify the effectiveness of the proposed approach.
AB - In this paper, decentralized controllers are developed to drive a swarm of mobile agents with high-order (m > 2) nonlinear dynamics in strict feedback form into a moving target region while avoiding collisions among themselves. At the same time, the connectivity of the communication graph remains for all time. 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 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 potential functions, backstepping technique and Lyapunov synthesis. The presence of parametric uncertainties is handled by adaptive control techniques. Simulation studies have been carried out to verify the effectiveness of the proposed approach.
UR - http://www.scopus.com/inward/record.url?scp=84883491383&partnerID=8YFLogxK
U2 - 10.1109/acc.2013.6580010
DO - 10.1109/acc.2013.6580010
M3 - Conference contribution
AN - SCOPUS:84883491383
SN - 9781479901777
T3 - Proceedings of the American Control Conference
SP - 1266
EP - 1271
BT - 2013 American Control Conference, ACC 2013
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2013 1st American Control Conference, ACC 2013
Y2 - 17 June 2013 through 19 June 2013
ER -