Robust model-free formation control with prescribed performance for nonlinear multi-agent systems

Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos

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

Abstract

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.

Original languageEnglish (US)
Title of host publication2015 IEEE International Conference on Robotics and Automation, ICRA 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1268-1273
Number of pages6
EditionJune
ISBN (Electronic)9781479969234
DOIs
StatePublished - Jun 29 2015
Event2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States
Duration: May 26 2015May 30 2015

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
NumberJune
Volume2015-June
ISSN (Print)1050-4729

Other

Other2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Country/TerritoryUnited States
CitySeattle
Period5/26/155/30/15

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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