|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
|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||URI:||http://hdl.handle.net/11420/7371||ISBN:||978-147997886-1||ISSN:||0743-1546||Institute:||Regelungstechnik E-14||Document Type:||Chapter/Article (Proceedings)|
|Appears in Collections:||Publications without fulltext|
Show full item record
checked on Jan 22, 2022
checked on Jan 19, 2022
Add Files to Item
Note about this record
Cite this record
Items in TORE are protected by copyright, with all rights reserved, unless otherwise indicated.