TUHH Open Research
Help
  • Log In
    New user? Click here to register.Have you forgotten your password?
  • English
  • Deutsch
  • Communities & Collections
  • Publications
  • Research Data
  • People
  • Institutions
  • Projects
  • Statistics
  1. Home
  2. TUHH
  3. Publications
  4. Gradient-based cooperative control of quasi-linear parameter varying vehicles with noisy gradients
 
Options

Gradient-based cooperative control of quasi-linear parameter varying vehicles with noisy gradients

Citation Link: https://doi.org/10.15480/882.9039
Publikationstyp
Conference Paper
Date Issued
2023
Sprache
English
Author(s)
Datar, Adwait  
Data Science Foundations E-21  
Mendez Gonzalez, Antonio  
Regelungstechnik E-14  
Werner, Herbert  
Regelungstechnik E-14  
TORE-DOI
10.15480/882.9039
TORE-URI
https://hdl.handle.net/11420/45019
Journal
IFAC-PapersOnLine  
Volume
56
Issue
2
Start Page
8030
End Page
8035
Citation
IFAC-PapersOnLine 56 (2): 8030-8035 (2023)
Contribution to Conference
22nd IFAC World Congress, IFAC 2023  
Publisher DOI
10.1016/j.ifacol.2023.10.927
Publisher
Elsevier BV
ISBN
9781713872344
This paper extends recent results on the exponential performance analysis of gradient based cooperative control dynamics using the framework of exponential integral quadratic constraints. A cooperative source-seeking problem is considered as a specific example where one or more vehicles are embedded in a strongly convex scalar field and are required to converge to a formation located at the minimum of a field. A subset of the agents are assumed to have the knowledge of the gradient of the field evaluated at their respective locations and the interaction graph is assumed to be uncertain. As a first contribution, we extend earlier results on linear systems to non-linear systems by using quasi-linear parameter varying representations. Secondly, we remove the assumption on perfect gradient measurements and consider multiplicative noise in the analysis. Performance-robustness trade off curves are presented to illustrate the use of presented methods for tuning controller gains. The results are demonstrated on a group of non-linear second order vehicles with a velocity-dependent non-linear damping and a local gain-scheduled tracking controller.
Subjects
cooperative control
linear parameter varying systems
robust control
DDC Class
620: Engineering
621: Applied Physics
Publication version
publishedVersion
Lizenz
https://creativecommons.org/licenses/by-nc-nd/4.0/
Loading...
Thumbnail Image
Name

1-s2.0-S2405896323013101-main.pdf

Type

Main Article

Size

492.15 KB

Format

Adobe PDF

TUHH
Weiterführende Links
  • Contact
  • Send Feedback
  • Cookie settings
  • Privacy policy
  • Impress
DSpace Software

Built with DSpace-CRIS software - Extension maintained and optimized by 4Science
Design by effective webwork GmbH

  • Deutsche NationalbibliothekDeutsche Nationalbibliothek
  • ORCiD Member OrganizationORCiD Member Organization
  • DataCiteDataCite
  • Re3DataRe3Data
  • OpenDOAROpenDOAR
  • OpenAireOpenAire
  • BASE Bielefeld Academic Search EngineBASE Bielefeld Academic Search Engine
Feedback