DC Field | Value | Language |
---|---|---|
dc.contributor.author | Mendez Gonzalez, Antonio | - |
dc.contributor.author | Werner, Herbert | - |
dc.date.accessioned | 2023-01-24T16:45:40Z | - |
dc.date.available | 2023-01-24T16:45:40Z | - |
dc.date.issued | 2014 | - |
dc.identifier.citation | IFAC Proceedings Volumes 19: 1997-2002 (2014) | de_DE |
dc.identifier.isbn | 9783902823625 | de_DE |
dc.identifier.issn | 1474-6670 | de_DE |
dc.identifier.uri | http://hdl.handle.net/11420/14660 | - |
dc.description.abstract | 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. | en |
dc.language.iso | en | de_DE |
dc.relation.ispartof | IFAC Proceedings Volumes | de_DE |
dc.subject | Distributed control | de_DE |
dc.subject | LPV | de_DE |
dc.subject | Mobile robots | de_DE |
dc.subject | Nonlinear control | de_DE |
dc.subject | Switching networks | de_DE |
dc.title | LPV formation control of non-holonomic multi-agent systems | de_DE |
dc.type | inProceedings | de_DE |
dc.type.dini | contributionToPeriodical | - |
dcterms.DCMIType | Text | - |
tuhh.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. | de_DE |
tuhh.publisher.doi | 10.3182/20140824-6-za-1003.01453 | - |
tuhh.publication.institute | Regelungstechnik E-14 | de_DE |
tuhh.type.opus | InProceedings (Aufsatz / Paper einer Konferenz etc.) | - |
dc.type.driver | contributionToPeriodical | - |
dc.type.casrai | Conference Paper | - |
tuhh.container.volume | 19 | de_DE |
tuhh.container.startpage | 1997 | de_DE |
tuhh.container.endpage | 2002 | de_DE |
dc.identifier.scopus | 2-s2.0-84929832816 | - |
datacite.resourceTypeGeneral | ConferencePaper | - |
item.mappedtype | inProceedings | - |
item.fulltext | No Fulltext | - |
item.creatorGND | Mendez Gonzalez, Antonio | - |
item.creatorGND | Werner, Herbert | - |
item.openairecristype | http://purl.org/coar/resource_type/c_5794 | - |
item.cerifentitytype | Publications | - |
item.grantfulltext | none | - |
item.languageiso639-1 | en | - |
item.creatorOrcid | Mendez Gonzalez, Antonio | - |
item.creatorOrcid | Werner, Herbert | - |
item.openairetype | inProceedings | - |
crisitem.author.dept | Regelungstechnik E-14 | - |
crisitem.author.dept | Regelungstechnik E-14 | - |
crisitem.author.orcid | 0000-0003-3456-5539 | - |
crisitem.author.parentorg | Studiendekanat Elektrotechnik, Informatik und Mathematik (E) | - |
crisitem.author.parentorg | Studiendekanat Elektrotechnik, Informatik und Mathematik (E) | - |
Appears in Collections: | Publications without fulltext |
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