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Comparison of consensus loop designs with a mission error signal
Publikationstyp
Conference Paper
Date Issued
2016
Sprache
English
Author(s)
Institut
TORE-URI
Start Page
291
End Page
296
Article Number
7849503
Citation
IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (0): 16671069, 291-296 (2016)
Contribution to Conference
Publisher DOI
Scopus ID
Publisher
IEEE
A multi-agent system trying to complete a mission has to fulfill a number of objectives. In case of a combination of formation control and other mission-related goals such as source seeking, both objectives have to be integrated. This paper presents different designs which incorporate the mission error signal as well as the corresponding generalized plants needed for the synthesis of the corresponding-optimal information flow filter. The comparison of the designs is then performed by evaluation of the simulation results for a sample scenario. The results show different behaviors dependent on the choice of design and weighting filters. The variety in behavior implies to choose the design according to the performance requirements of the particular task.
DDC Class
600: Technik