González, Antonio ; Sala, Antonio ; Armesto, Leopoldo
Contributor:Wiśniewski, Remigiusz - ed. ; Gomes, Luis - ed. ; Wan, Shaohua - ed.
Title: Subtitle: Group publication title: Subject and Keywords:multi-agent autonomous system ; formation control ; decoupling ; linear matrix inequalities ; cone-complementarity linearization
Abstract:An output-feedback decentralised formation control strategy is pursued under pole-region constraints, assuming that the agents have access to relative position measurements with respect to a set of neighbors in a graph describing the sensing topology. No communication between the agents is assumed; however, a shared one-way communication channel with a pilot is needed for steering tasks. Each agent has a separate copy of the same controller. ; A virtual structure approach is presented for the formation steering as a whole; actual formation control is established via cone-complementarity linearization algorithms for the appropriate matrix inequalities. In contrast to other research where only stable consensus is pursued, the proposed method allows us to specify settling-time, damping and bandwidth limitations via pole regions. In addition, a full methodology for the decoupled handling of steering and formation control is provided. Simulation results in the example section illustrate the approach.
Publisher:Zielona Góra: Uniwersytet Zielonogórski
Date: Resource Type: DOI: Pages: Source:AMCS, volume 32, number 3 (2022) ; click here to follow the link
Language: License CC BY 4.0: Rights: