TY - GEN
T1 - On the state agreement problem for multiple unicycles with varying communication links
AU - Dimarogonas, Dimos V.
AU - Kyriakopoulos, Kostas J.
PY - 2006
Y1 - 2006
N2 - This paper presents a decentralized feedback control strategy that drives a system of multiple nonholonomic kinematic unicycles to agreement. The communication links between the members of the team may change over time and hence the communication topology is dynamic. The case of static communication topology was dealt in [7]. The proposed nonholonomic control law is discontinuous and time-invariant and tools from nonsmooth stability theory and matrix theory are used to check the stability of the overall system. Similarly to the linear case, the convergence of the multi-agent system relies on the connectivity of the communication graph that represents the inter-agent communication topology. The convergence properties are verified through computer simulations.
AB - This paper presents a decentralized feedback control strategy that drives a system of multiple nonholonomic kinematic unicycles to agreement. The communication links between the members of the team may change over time and hence the communication topology is dynamic. The case of static communication topology was dealt in [7]. The proposed nonholonomic control law is discontinuous and time-invariant and tools from nonsmooth stability theory and matrix theory are used to check the stability of the overall system. Similarly to the linear case, the convergence of the multi-agent system relies on the connectivity of the communication graph that represents the inter-agent communication topology. The convergence properties are verified through computer simulations.
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U2 - 10.1109/cdc.2006.376819
DO - 10.1109/cdc.2006.376819
M3 - Conference contribution
AN - SCOPUS:34249096896
SN - 1424401712
SN - 9781424401710
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 4283
EP - 4288
BT - Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 45th IEEE Conference on Decision and Control 2006, CDC
Y2 - 13 December 2006 through 15 December 2006
ER -