Distributed nonlinear control of mobile autonomous multi-agents

Tengfei Liu, Zhong Ping Jiang

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

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.

Original languageEnglish (US)
Title of host publicationProceedings of the 33rd Chinese Control Conference, CCC 2014
EditorsShengyuan Xu, Qianchuan Zhao
PublisherIEEE Computer Society
Pages1728-1733
Number of pages6
ISBN (Electronic)9789881563842
DOIs
StatePublished - Sep 11 2014
EventProceedings of the 33rd Chinese Control Conference, CCC 2014 - Nanjing, China
Duration: Jul 28 2014Jul 30 2014

Publication series

NameProceedings of the 33rd Chinese Control Conference, CCC 2014
ISSN (Print)1934-1768
ISSN (Electronic)2161-2927

Other

OtherProceedings of the 33rd Chinese Control Conference, CCC 2014
CountryChina
CityNanjing
Period7/28/147/30/14

Keywords

  • Distributed control
  • flexible topology
  • multi-agent systems
  • output agreement

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Applied Mathematics
  • Modeling and Simulation

Fingerprint Dive into the research topics of 'Distributed nonlinear control of mobile autonomous multi-agents'. Together they form a unique fingerprint.

  • Cite this

    Liu, T., & Jiang, Z. P. (2014). Distributed nonlinear control of mobile autonomous multi-agents. In S. Xu, & Q. Zhao (Eds.), Proceedings of the 33rd Chinese Control Conference, CCC 2014 (pp. 1728-1733). [6896889] (Proceedings of the 33rd Chinese Control Conference, CCC 2014). IEEE Computer Society. https://doi.org/10.1109/ChiCC.2014.6896889