کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
695899 890317 2013 6 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Global stabilization of rigid formations in the plane
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
Global stabilization of rigid formations in the plane
چکیده انگلیسی

This paper considers the problem of distributed control of rigid formation shapes in the plane for multi-agent systems. A constructive perturbation method is proposed and combined with the conventional gradient control law. The proposed control law stabilizes the desired rigid formation in a global sense for all initial conditions except the case when a pair of communicating agents happen to have the same initial location. It also avoids collisions between any two communicating agents during the motion. Simulation results are provided to illustrate the effectiveness of the control algorithm.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Automatica - Volume 49, Issue 5, May 2013, Pages 1436–1441
نویسندگان
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