کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
4974088 1365519 2017 32 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Stabilization of collective formations with speed and controller gain heterogeneity and saturation
ترجمه فارسی عنوان
تثبیت سازه های جمعی با سرعت و کنترل کننده ناهمگونی و اشباع شدن
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر پردازش سیگنال
چکیده انگلیسی
This paper studies collective formations of multi-agent systems, modeled with unicycle dynamics, while admitting heterogeneity in both controller gains and speeds of the agents along with saturation on the controller outputs. This addresses a practical scenario where the speeds are usually nonidentical and the controller gains may vary due to imperfect implementation. The paper analyzes the effect of both heterogeneous controller gains and speeds simultaneously on the collective formations obtained by optimizing the average linear momentum of the group of agents. A detailed analysis of the two-agent system is given in the paper and some results on the locus of the collective centroid with varying controller gains are obtained. Effect of saturation is also studied for two cases when the controller gains are bounded and when the control efforts are bounded. Simulation examples are given to illustrate the theoretical findings.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Journal of the Franklin Institute - Volume 354, Issue 14, September 2017, Pages 5964-5995
نویسندگان
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