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Convergence speed in formation control of multi-agent systems : a robust control approach
Publikationstyp
Conference Paper
Date Issued
2013
Sprache
English
Author(s)
Institut
TORE-URI
Start Page
6067
End Page
6072
Article Number
6760848
Citation
2013 IEEE 52nd Annual Conference on Decision and Control : (CDC 2013) ; Firenze, Italy, 10 - 13 December 2013 / [IEEE Control Systems Society]. - Piscataway, NJ : IEEE Service Center. - Vol. 9 (2013), Art.-Nr. 6760848 i.e. Seite 6067-6072
Contribution to Conference
Publisher DOI
Scopus ID
Publisher
IEEE
In this work a robust design approach to improve the convergence speed in formation control of multi-agent systems by simultaneously shaping the control feedback law and the weights of the interconnection structure is proposed. The communication topology is assumed to be fixed and undirected. It is shown that for agents modeled as discrete-time doubleintegrators, convergence speed of the proposed method almost reaches the theoretical optimum. The convergence speed can be further increased if the feedback control law is allowed to be dynamic. Although the number of decision variables in this approach grows linearly with the size of the weighting matrix, the synthesis method is applied also to a more realistic linearized model of a quad-rotor helicopter, where the simulation results indicate that this approach is reasonable for a sufficiently large number of high-order agents.
DDC Class
600: Technik
620: Ingenieurwissenschaften