TY - GEN
T1 - Robust model-free formation control with prescribed performance for nonlinear multi-agent systems
AU - Bechlioulis, Charalampos P.
AU - Kyriakopoulos, Kostas J.
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/6/29
Y1 - 2015/6/29
N2 - In this paper, we consider the formation control problem for multi-agent systems with unknown nonlinearities and disturbances, under an undirected communication protocol. Exploiting the recently developed prescribed performance control methodology, a robust distributed control scheme of minimal complexity is proposed that achieves and maintains arbitrarily fast and accurately the desired formation. No information regarding the agents' dynamic model is employed in the design procedure. Moreover, contrary to the related works on multi-agent systems, the transient and steady state response is fully decoupled by the underlying graph topology, the control gains selection and the agents' model uncertainties. In particular, the achieved performance is a priori and explicitly imposed by certain designer-specified performance functions. Finally, the theoretical findings are clarified and verified by an extensive simulation study.
AB - In this paper, we consider the formation control problem for multi-agent systems with unknown nonlinearities and disturbances, under an undirected communication protocol. Exploiting the recently developed prescribed performance control methodology, a robust distributed control scheme of minimal complexity is proposed that achieves and maintains arbitrarily fast and accurately the desired formation. No information regarding the agents' dynamic model is employed in the design procedure. Moreover, contrary to the related works on multi-agent systems, the transient and steady state response is fully decoupled by the underlying graph topology, the control gains selection and the agents' model uncertainties. In particular, the achieved performance is a priori and explicitly imposed by certain designer-specified performance functions. Finally, the theoretical findings are clarified and verified by an extensive simulation study.
UR - http://www.scopus.com/inward/record.url?scp=84938227283&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84938227283&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2015.7139354
DO - 10.1109/ICRA.2015.7139354
M3 - Conference contribution
AN - SCOPUS:84938227283
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1268
EP - 1273
BT - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Y2 - 26 May 2015 through 30 May 2015
ER -