Region tracking control for multi-agent systems with high-order dynamics

Beibei Ren, Shuzhi Sam Ge, Tong Heng Lee, Miroslav Krstic

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

7 Scopus citations


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.

Original languageEnglish
Title of host publication2013 American Control Conference, ACC 2013
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)9781479901777
StatePublished - 2013
Event2013 1st American Control Conference, ACC 2013 - Washington, DC, United States
Duration: Jun 17 2013Jun 19 2013

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Conference2013 1st American Control Conference, ACC 2013
Country/TerritoryUnited States
CityWashington, DC


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