Publisher DOI: 10.3182/20140824-6-za-1003.01453
Title: LPV formation control of non-holonomic multi-agent systems
Language: English
Authors: Mendez Gonzalez, Antonio 
Werner, Herbert 
Keywords: Distributed control; LPV; Mobile robots; Nonlinear control; Switching networks
Issue Date: 2014
Source: IFAC Proceedings Volumes 19: 1997-2002 (2014)
Abstract (english): 
This paper studies a formation control problem for nonlinear multi-agent systems; specifically non-holonomic vehicles represented as linear parameter-varying (LPV) models are of interest here. The objective of this study is twofold. First, we demonstrate the applicability of a novel approach to distributed control for LPV decomposable systems (Hoffmann et al, 2013). Second, we investigate different LPV representations of non-holonomic vehicles. We consider a group of agents in a leader-follower configuration which communicate through a directed time-varying but diagonalizable interconnection topology, where follower vehicles must achieve a desired formation and track the path determined by the leader agent. In addition, the leader vehicle is equipped with an LPV flatness-based controller to track a reference trajectory. The problem is formulated in terms of linear fractional transformations (LFT) for LPV systems with the objective of minimizing the closed-loop induced C2 gain. Simulation results with a formation of non-holonomic discs illustrate the proposed approach.
ISBN: 9783902823625
ISSN: 1474-6670
Journal: IFAC Proceedings Volumes 
Institute: Regelungstechnik E-14 
Document Type: Chapter/Article (Proceedings)
Appears in Collections:Publications without fulltext

Show full item record

Page view(s)

checked on Feb 5, 2023

Google ScholarTM


Add Files to Item

Note about this record

Cite this record


Items in TORE are protected by copyright, with all rights reserved, unless otherwise indicated.