On the state agreement problem for multiple unicycles with varying communication links

Dimos V. Dimarogonas, Kostas J. Kyriakopoulos

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

Abstract

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.

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.
Pages4283-4288
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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