Containment control in mobile networks

被引：654

作者：

Ji, M. ^{[1
]}

Ferrari-Trecate, G. ^{[2
,3
]}

Egerstedt, M. ^{[1
]}

Buffa, A. ^{[4
]}

机构：

[1] Georgia Inst Technol, Sch Elect & Comp Engn, Atlanta, GA 30332 USA

[2] Univ Pavia, Dipartimento Informat & Sistemist, I-27100 Pavia, Italy

[3] Inst Natl Rech Informat & Automat, F-78153 Le Chesnay, France

[4] CNR, Ist Matemat Applicata & Tecnol Informat, I-27100 Pavia, Italy

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2008年 / 53卷 / 08期

关键词：

containment problems; decentralized control; graph theory; leader-following; multi-agent systems; partial difference equations;

D O I：

10.1109/TAC.2008.930098

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, the problem of driving a collection of mobile robots to a given target destination is studied. In particular, we are interested in achieving this transfer in an orderly manner so as to ensure that the agents remain in the convex polytope spanned by the leader-agents, while the remaining agents, only employ local interaction rules. To this aim we exploit the theory of partial difference equations and propose hybrid control schemes based on stop-go rules for the leader-agents. Non-Zenoness, liveness and convergence of the resulting system are also analyzed.

引用

页码：1972 / 1975

页数：4

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