LPV formation control for a class of non-holonomic agents with directed and switching communication topologies

Publikationstyp
Conference Paper
Publikationsdatum
2015-02-08
Sprache
English
Author
Mendez Gonzalez, Antonio 
Hoffmann, Christian 
Werner, Herbert 
Institut
Regelungstechnik E-14 
TORE-URI
http://hdl.handle.net/11420/7371
Enthalten in
Proceedings of the IEEE Conference on Decision & Control 
Volume
54rd IEEE Conference on Decision and Control, CDC 2015
Start Page
2792
End Page
2797
Article Number
7402639
Citation
IEEE Conference on Decision and Control, CDC: 7402639 (2015-02-08)
Contribution to Conference
54th IEEE Conference on Decision and Control, CDC 2015 
Publisher DOI
10.1109/CDC.2015.7402639
Scopus ID
2-s2.0-84962018779
A distributed controller design is presented for a set of agents with non-holonomic dynamics that communicate through a directed and switching topology. The design is carried out in the framework of LPV-LFT control. The objective is to only use relative (local) information to reach formation consensus in Cartesian coordinates, while the agents move along a desired path. An analysis shows that a moving formation of agents achieve orientation consensus naturally. A novel methodology from the literature is employed to solve the problem, where feasibility of a small set of LMIs provides guarantees of stability, performance and robustness. Simulation results of a leader-follower example illustrate and confirm the applicability of the approach.