A leader-based containment control strategy for multiple unicycles

Dimos V. Dimarogonas, Magnus Egerstedt, Kostas J. Kyriakopoulos

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

Abstract

In this paper, a leader based containment control strategy for multiple unicycle agents is introduced. Similar results for the single integrator case examined in [7] are derived based on the theory of Partial Difference Equations on graphs established in [1]. The leaders converge to a desired formation based on a control law that is independent of the followers' states. Once the leaders have reached the desired formation, the followers converge to the convex hull of the leaders final positions. When the desired leader formation is infeasible, then (as was shown in [5]) the leaders converge to a configuration where they share the same velocities and orientations. We show in this paper that in such a situation, the followers converge to the same velocities and orientations as the leaders, with the same control law that was used for the followers in the initial containment control problem. The theoretical results are verified through computer simulations.

Original languageEnglish (US)
Title of host publicationProceedings of the 45th IEEE Conference on Decision and Control 2006, CDC
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5968-5973
Number of pages6
ISBN (Print)1424401712, 9781424401710
DOIs
StatePublished - 2006
Event45th IEEE Conference on Decision and Control 2006, CDC - San Diego, CA, United States
Duration: Dec 13 2006Dec 15 2006

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370

Other

Other45th IEEE Conference on Decision and Control 2006, CDC
Country/TerritoryUnited States
CitySan Diego, CA
Period12/13/0612/15/06

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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