Adaptive design for reference velocity recovery in motion coordination

被引：86

作者：

Bai, He ^{[1
]}

Arcak, Murat ^{[1
]}

Wen, John T. ^{[1
]}

机构：

[1] Rensselaer Polytech Inst, Dept Elect Comp & Syst Engn, Troy, NY 12180 USA

来源：

SYSTEMS & CONTROL LETTERS | 2008年 / 57卷 / 08期

关键词：

cooperative control; passivity; adaptive control;

D O I：

10.1016/j.sysconle.2007.07.003

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We study a coordination problem where the objective is to steer a group of agents to a formation that translates with a prescribed reference velocity. Unlike existing designs which assume that the reference velocity information is available to each agent, we consider the situation where this information is available only to a leader. We then develop an adaptive design with which the other agents reconstruct the reference velocity and recover the desired formation. This design relies only on relative distance information with respect to neighbouring agents and, thus, can be implemented in a decentralized fashion. Published by Elsevier B.V.

引用

页码：602 / 610

页数：9

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