Distributed control of autonomous multi-agents

A small-gain approach

Zhong Ping Jiang, Tengfei Liu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

There has been tremendous progress on the distributed control of mobile autonomous multi-agents, mainly driven by the need to achieve desirable group behavior for the multi-agents based only on local information exchange and feedback control. In this review article, a small-gain approach is proposed to design a new class of distributed nonlinear controllers for leader-following formation control of unicycle robots without global position measurements. With the proposed distributed controllers, the formation control objective can be achieved without assuming any tree sensing structures. More interestingly, the distributed controller is robust to position measurement errors and the linear velocities of the robots can be restricted to specific bounded ranges. The generality and the power of the proposed small-gain approach are supported by its application to tackle the distributed nonlinear control of other important classes of multi-agent systems modeled either by double-integrators or the well-known output-feedback form.

Original languageEnglish (US)
Title of host publication2015 10th International Workshop on Robot Motion and Control, RoMoCo 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages103-117
Number of pages15
ISBN (Electronic)9781479970438
DOIs
StatePublished - Aug 24 2015

Fingerprint

Position measurement
Controllers
Robots
Measurement errors
Multi agent systems
Feedback control
Feedback

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Human-Computer Interaction
  • Artificial Intelligence

Cite this

Jiang, Z. P., & Liu, T. (2015). Distributed control of autonomous multi-agents: A small-gain approach. In 2015 10th International Workshop on Robot Motion and Control, RoMoCo 2015 (pp. 103-117). [7219721] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/RoMoCo.2015.7219721

Distributed control of autonomous multi-agents : A small-gain approach. / Jiang, Zhong Ping; Liu, Tengfei.

2015 10th International Workshop on Robot Motion and Control, RoMoCo 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 103-117 7219721.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Jiang, ZP & Liu, T 2015, Distributed control of autonomous multi-agents: A small-gain approach. in 2015 10th International Workshop on Robot Motion and Control, RoMoCo 2015., 7219721, Institute of Electrical and Electronics Engineers Inc., pp. 103-117. https://doi.org/10.1109/RoMoCo.2015.7219721
Jiang ZP, Liu T. Distributed control of autonomous multi-agents: A small-gain approach. In 2015 10th International Workshop on Robot Motion and Control, RoMoCo 2015. Institute of Electrical and Electronics Engineers Inc. 2015. p. 103-117. 7219721 https://doi.org/10.1109/RoMoCo.2015.7219721
Jiang, Zhong Ping ; Liu, Tengfei. / Distributed control of autonomous multi-agents : A small-gain approach. 2015 10th International Workshop on Robot Motion and Control, RoMoCo 2015. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 103-117
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