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. Publication References
  4. Event-Triggered ℓ₂-Optimal Formation Control for Agents Modeled as LPV Systems
 
Options

Event-Triggered ℓ₂-Optimal Formation Control for Agents Modeled as LPV Systems

Publikationstyp
Conference Paper
Date Issued
2021-12
Sprache
English
Author(s)
Saadabadi, Hamideh 
Werner, Herbert  
Institut
Regelungstechnik E-14  
TORE-URI
http://hdl.handle.net/11420/12056
Journal
Proceedings of the IEEE Conference on Decision & Control  
Volume
2021-December
Start Page
1256
End Page
1262
Citation
60th IEEE Conference on Decision and Control (CDC 2021)
Contribution to Conference
60th IEEE Conference on Decision and Control, CDC 2021  
Publisher DOI
10.1109/CDC45484.2021.9683366
Scopus ID
2-s2.0-85126000129
This paper proposes a novel approach to event-triggered formation control for homogeneous, non-holonomic multi-agent systems with undirected interaction topology, where the non-holonomic vehicle dynamics are represented by poly-topic linear-parameter-varying (LPV) models. The proposed event-triggered strategy is able to reduce the communication cost by transmitting information only when needed. To maintain a formation, each agent is equipped with an inner state-feedback loop that is time-triggered, while an outer position loop is closed by each agent individually through the communication network whenever a local trigger condition is satisfied. The control strategy can be implemented in a distributed manner; the trigger condition is based only on locally available information. The proposed method allows to simultaneously design a controller and a trigger level that guarantee stability and a bound on the overall ℓ2 performance of the network. The synthesis problem is formulated as an LMI problem. Under the additional assumption that the agents are homogeneously scheduled, the synthesis problem can be decomposed to reduce its complexity to the size of a single agent, regardless of the number of agents, without degrading the performance. The effectiveness of the results is illustrated in a simulation scenario with non-holonomic agents modeled as dynamic unicycles.
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