6 research outputs found
Consensus Control for Leader-follower Multi-agent Systems under Prescribed Performance Guarantees
This paper addresses the problem of distributed control for leader-follower
multi-agent systems under prescribed performance guarantees. Leader-follower is
meant in the sense that a group of agents with external inputs are selected as
leaders in order to drive the group of followers in a way that the entire
system can achieve consensus within certain prescribed performance transient
bounds. Under the assumption of tree graphs, a distributed control law is
proposed when the decay rate of the performance functions is within a
sufficient bound. Then, two classes of tree graphs that can have additional
followers are investigated. Finally, several simulation examples are given to
illustrate the results.Comment: 8 page
Robust Distance-Based Formation Control of Multiple Rigid Bodies with Orientation Alignment
This paper addresses the problem of distance- and orientation-based formation
control of a class of second-order nonlinear multi-agent systems in 3D space,
under static and undirected communication topologies. More specifically, we
design a decentralized model-free control protocol in the sense that each agent
uses only local information from its neighbors to calculate its own control
signal, without incorporating any knowledge of the model nonlinearities and
exogenous disturbances. Moreover, the transient and steady state response is
solely determined by certain designer-specified performance functions and is
fully decoupled by the agents' dynamic model, the control gain selection, the
underlying graph topology as well as the initial conditions. Additionally, by
introducing certain inter-agent distance constraints, we guarantee collision
avoidance and connectivity maintenance between neighboring agents. Finally,
simulation results verify the performance of the proposed controllers.Comment: IFAC Word Congress 201