Wyniki wyszukiwania - BazTech

Ograniczanie wyników

1 International Journal of Applied Mathematics and Computer Science

1 2022

Znaleziono wyników: 1

Liczba wyników na stronie

Wyniki wyszukiwania

Wyszukiwano:
w słowach kluczowych: cone complementarity linearization

Sortuj według:

Ogranicz wyniki do:

Decentralized multi-agent formation control with pole-region placement via cone-complementarity linearization

González Antonio, Sala Antonio, Armesto Leopoldo

International Journal of Applied Mathematics and Computer Science

2022

Vol. 32, no. 3

415--428

An output-feedback decentralised formation control strategy is pursued under pole-region constraints, assuming that the agents have access to relative position measurements with respect to a set of neighbors in a graph describing the sensing topology. No communication between the agents is assumed; however, a shared one-way communication channel with a pilot is needed for steering tasks. Each agent has a separate copy of the same controller. A virtual structure approach is presented for the formation steering as a whole; actual formation control is established via cone-complementarity linearization algorithms for the appropriate matrix inequalities. In contrast to other research where only stable consensus is pursued, the proposed method allows us to specify settling-time, damping and bandwidth limitations via pole regions. In addition, a full methodology for the decoupled handling of steering and formation control is provided. Simulation results in the example section illustrate the approach.