@inproceedings{d92d8efcb0564fa1b0f452379eef11ab,
title = "Distributed nonlinear control of mobile autonomous multi-agents",
abstract = "This paper studies the distributed nonlinear control of mobile autonomous agents with variable and directed topology. A new distributed nonlinear design scheme is presented for multi-agent systems modeled by double-integrators. With the new design, the outputs of the controlled agents asymptotically converge to each other, as long as a mild connectivity condition is satisfied. Moreover, the velocity (derivative of the output) of each agent can be restricted to be within any specified neighborhood of the origin, which is of practical interest for systems under such physical constraint. The new design is still valid if one of the agents is a leader, and in this case, the outputs of the followers asymptotically converge to the output of the leader.",
keywords = "Distributed control, flexible topology, multi-agent systems, output agreement",
author = "Tengfei Liu and Jiang, {Zhong Ping}",
note = "Funding Information: This research was supported partly by NSF grants DMS-0906659 , ECCS-1230040 , and partly by NSFC grant 61374042 . The material in this paper was not presented at any conference. This paper was recommended for publication in revised form by Associate Editor Zhihua Qu under the direction of Editor Andrew R. Teel. The work was done when the first author was visiting the Polytechnic School of Engineering at New York University. Publisher Copyright: {\textcopyright} 2014 TCCT, CAA.; Proceedings of the 33rd Chinese Control Conference, CCC 2014 ; Conference date: 28-07-2014 Through 30-07-2014",
year = "2014",
month = sep,
day = "11",
doi = "10.1109/ChiCC.2014.6896889",
language = "English (US)",
series = "Proceedings of the 33rd Chinese Control Conference, CCC 2014",
publisher = "IEEE Computer Society",
pages = "1728--1733",
editor = "Shengyuan Xu and Qianchuan Zhao",
booktitle = "Proceedings of the 33rd Chinese Control Conference, CCC 2014",
}