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.
URI: http://hdl.handle.net/11420/14660
ISBN: 9783902823625
ISSN: 1474-6670
Journal: IFAC Proceedings Volumes 
Institute: Regelungstechnik E-14 
Document Type: Chapter/Article (Proceedings)
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