Decentralized control strategies for connectivity guaranteed tracking of multi-agent systems

Qin Li; Zhong Ping Jiang

doi:10.1109/WCICA.2008.4592945

Decentralized control strategies for connectivity guaranteed tracking of multi-agent systems

Qin Li, Zhong Ping Jiang

Electrical and Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In this paper, we study the control strategy for connectivity guaranteed trajectory tracking for multi-agent systems using artificial potential based approach. Some agents, called active agents (AAs), which are attracted by the reference point (modeled as the virtual leader), lead the rest of the group to perform the task. Special features of our approach are that the group is not required to be initially connected and the AAs are not fixed as the system evolves. Two control strategies, each of which consists of an AA switching rule and the coupled flocking controller, are proposed to realize different kinds of connectivity as well as other well-known flocking specifications for the multi-agent group.

Original language	English (US)
Title of host publication	Proceedings of the 7th World Congress on Intelligent Control and Automation, WCICA'08
Pages	323-328
Number of pages	6
DOIs	https://doi.org/10.1109/WCICA.2008.4592945
State	Published - 2008
Event	7th World Congress on Intelligent Control and Automation, WCICA'08 - Chongqing, China Duration: Jun 25 2008 → Jun 27 2008

Publication series

Name	Proceedings of the World Congress on Intelligent Control and Automation (WCICA)

Other

Other	7th World Congress on Intelligent Control and Automation, WCICA'08
Country/Territory	China
City	Chongqing
Period	6/25/08 → 6/27/08

Keywords

Active agent
Decentralized control
Multi-agent system
Potential function

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Science Applications

Access to Document

10.1109/WCICA.2008.4592945

Cite this

Li, Q., & Jiang, Z. P. (2008). Decentralized control strategies for connectivity guaranteed tracking of multi-agent systems. In Proceedings of the 7th World Congress on Intelligent Control and Automation, WCICA'08 (pp. 323-328). Article 4592945 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA)). https://doi.org/10.1109/WCICA.2008.4592945

Decentralized control strategies for connectivity guaranteed tracking of multi-agent systems. / Li, Qin; Jiang, Zhong Ping.
Proceedings of the 7th World Congress on Intelligent Control and Automation, WCICA'08. 2008. p. 323-328 4592945 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA)).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Li, Q & Jiang, ZP 2008, Decentralized control strategies for connectivity guaranteed tracking of multi-agent systems. in Proceedings of the 7th World Congress on Intelligent Control and Automation, WCICA'08., 4592945, Proceedings of the World Congress on Intelligent Control and Automation (WCICA), pp. 323-328, 7th World Congress on Intelligent Control and Automation, WCICA'08, Chongqing, China, 6/25/08. https://doi.org/10.1109/WCICA.2008.4592945

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AB - In this paper, we study the control strategy for connectivity guaranteed trajectory tracking for multi-agent systems using artificial potential based approach. Some agents, called active agents (AAs), which are attracted by the reference point (modeled as the virtual leader), lead the rest of the group to perform the task. Special features of our approach are that the group is not required to be initially connected and the AAs are not fixed as the system evolves. Two control strategies, each of which consists of an AA switching rule and the coupled flocking controller, are proposed to realize different kinds of connectivity as well as other well-known flocking specifications for the multi-agent group.

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Decentralized control strategies for connectivity guaranteed tracking of multi-agent systems

Abstract

Publication series

Other

Keywords

ASJC Scopus subject areas

Access to Document

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