DC FieldValueLanguage
dc.contributor.authorMendez Gonzalez, Antonio-
dc.contributor.authorWerner, Herbert-
dc.date.accessioned2023-01-24T16:45:40Z-
dc.date.available2023-01-24T16:45:40Z-
dc.date.issued2014-
dc.identifier.citationIFAC Proceedings Volumes 19: 1997-2002 (2014)de_DE
dc.identifier.isbn9783902823625de_DE
dc.identifier.issn1474-6670de_DE
dc.identifier.urihttp://hdl.handle.net/11420/14660-
dc.description.abstractThis 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.isoende_DE
dc.relation.ispartofIFAC Proceedings Volumesde_DE
dc.subjectDistributed controlde_DE
dc.subjectLPVde_DE
dc.subjectMobile robotsde_DE
dc.subjectNonlinear controlde_DE
dc.subjectSwitching networksde_DE
dc.titleLPV formation control of non-holonomic multi-agent systemsde_DE
dc.typeinProceedingsde_DE
dc.type.dinicontributionToPeriodical-
dcterms.DCMITypeText-
tuhh.abstract.englishThis 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.doi10.3182/20140824-6-za-1003.01453-
tuhh.publication.instituteRegelungstechnik E-14de_DE
tuhh.type.opusInProceedings (Aufsatz / Paper einer Konferenz etc.)-
dc.type.drivercontributionToPeriodical-
dc.type.casraiConference Paper-
tuhh.container.volume19de_DE
tuhh.container.startpage1997de_DE
tuhh.container.endpage2002de_DE
dc.identifier.scopus2-s2.0-84929832816-
datacite.resourceTypeGeneralConferencePaper-
item.mappedtypeinProceedings-
item.fulltextNo Fulltext-
item.creatorGNDMendez Gonzalez, Antonio-
item.creatorGNDWerner, Herbert-
item.openairecristypehttp://purl.org/coar/resource_type/c_5794-
item.cerifentitytypePublications-
item.grantfulltextnone-
item.languageiso639-1en-
item.creatorOrcidMendez Gonzalez, Antonio-
item.creatorOrcidWerner, Herbert-
item.openairetypeinProceedings-
crisitem.author.deptRegelungstechnik E-14-
crisitem.author.deptRegelungstechnik E-14-
crisitem.author.orcid0000-0003-3456-5539-
crisitem.author.parentorgStudiendekanat Elektrotechnik, Informatik und Mathematik (E)-
crisitem.author.parentorgStudiendekanat Elektrotechnik, Informatik und Mathematik (E)-
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