Publisher DOI: 10.1109/CDC.2015.7402639
Title: LPV formation control for a class of non-holonomic agents with directed and switching communication topologies
Language: English
Authors: Mendez Gonzalez, Antonio 
Hoffmann, Christian 
Werner, Herbert 
Issue Date: 8-Feb-2015
Source: IEEE Conference on Decision and Control, CDC: 7402639 (2015-02-08)
Journal: Proceedings of the IEEE Conference on Decision & Control 
Abstract (english): 
A distributed controller design is presented for a set of agents with non-holonomic dynamics that communicate through a directed and switching topology. The design is carried out in the framework of LPV-LFT control. The objective is to only use relative (local) information to reach formation consensus in Cartesian coordinates, while the agents move along a desired path. An analysis shows that a moving formation of agents achieve orientation consensus naturally. A novel methodology from the literature is employed to solve the problem, where feasibility of a small set of LMIs provides guarantees of stability, performance and robustness. Simulation results of a leader-follower example illustrate and confirm the applicability of the approach.
Conference: 2015 IEEE 54th Conference on Decision and Control, CDC 2015 
ISBN: 978-147997886-1
ISSN: 0743-1546
Institute: Regelungstechnik E-14 
Document Type: Chapter/Article (Proceedings)
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