A control Lyapunov function approach to multiagent coordination

被引：216

作者：

Ögren, P

Egerstedt, M

Hu, XM

机构：

[1] Royal Inst Technol, Div Optimizat & Syst Theory, KTH, SE-10044 Stockholm, Sweden

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

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2002年 / 18卷 / 05期

关键词：

coordinated control; Lyapunov methods; mobile robots; multirobot system; robot formation control;

D O I：

10.1109/TRA.2002.804500

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 multiagent coordination problem is studied. This problem is addressed for a class of robots for which control Lyapunov functions can be found. The main result is a suite of theorems about formation maintenance, task completion time, and formation velocity. It is also shown how to moderate the requirement that, for each individual robot, there exists a control Lyapunov function. An example is provided that illustrates the soundness of the method.

引用

页码：847 / 851

页数：5

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