Distributed nonlinear control of mobile autonomous multi-agents

Tengfei Liu, Zhong-Ping Jiang

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

Abstract

This paper studies the distributed nonlinear control of mobile autonomous agents with variable and directed topology. A new distributed nonlinear design scheme is presented for multi-agent systems modeled by double-integrators. With the new design, the outputs of the controlled agents asymptotically converge to each other, as long as a mild connectivity condition is satisfied. Moreover, the velocity (derivative of the output) of each agent can be restricted to be within any specified neighborhood of the origin, which is of practical interest for systems under such physical constraint. The new design is still valid if one of the agents is a leader, and in this case, the outputs of the followers asymptotically converge to the output of the leader.

Original languageEnglish (US)
Title of host publicationProceedings of the 33rd Chinese Control Conference, CCC 2014
PublisherIEEE Computer Society
Pages1728-1733
Number of pages6
ISBN (Print)9789881563842
DOIs
StatePublished - Sep 11 2014
EventProceedings of the 33rd Chinese Control Conference, CCC 2014 - Nanjing, China
Duration: Jul 28 2014Jul 30 2014

Other

OtherProceedings of the 33rd Chinese Control Conference, CCC 2014
CountryChina
CityNanjing
Period7/28/147/30/14

Fingerprint

Distributed Control
Nonlinear Control
Output
Autonomous agents
Multi agent systems
Converge
Autonomous Agents
Mobile Agent
Topology
Multi-agent Systems
Derivatives
Connectivity
Valid
Derivative
Design

Keywords

  • Distributed control
  • flexible topology
  • multi-agent systems
  • output agreement

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Applied Mathematics
  • Modeling and Simulation

Cite this

Liu, T., & Jiang, Z-P. (2014). Distributed nonlinear control of mobile autonomous multi-agents. In Proceedings of the 33rd Chinese Control Conference, CCC 2014 (pp. 1728-1733). [6896889] IEEE Computer Society. https://doi.org/10.1109/ChiCC.2014.6896889

Distributed nonlinear control of mobile autonomous multi-agents. / Liu, Tengfei; Jiang, Zhong-Ping.

Proceedings of the 33rd Chinese Control Conference, CCC 2014. IEEE Computer Society, 2014. p. 1728-1733 6896889.

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

Liu, T & Jiang, Z-P 2014, Distributed nonlinear control of mobile autonomous multi-agents. in Proceedings of the 33rd Chinese Control Conference, CCC 2014., 6896889, IEEE Computer Society, pp. 1728-1733, Proceedings of the 33rd Chinese Control Conference, CCC 2014, Nanjing, China, 7/28/14. https://doi.org/10.1109/ChiCC.2014.6896889
Liu T, Jiang Z-P. Distributed nonlinear control of mobile autonomous multi-agents. In Proceedings of the 33rd Chinese Control Conference, CCC 2014. IEEE Computer Society. 2014. p. 1728-1733. 6896889 https://doi.org/10.1109/ChiCC.2014.6896889
Liu, Tengfei ; Jiang, Zhong-Ping. / Distributed nonlinear control of mobile autonomous multi-agents. Proceedings of the 33rd Chinese Control Conference, CCC 2014. IEEE Computer Society, 2014. pp. 1728-1733
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