Digital Library of Zielona Góra contains 9 272 digital objects
Object
Title: Decentralized multi-agent formation control with pole-region placement via cone-complementarity linearization
Contributor:
Wiśniewski, Remigiusz - ed. ; Gomes, Luis - ed. ; Wan, Shaohua - ed.
Subtitle:
Group publication title:
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
Resource Identifier:
DOI:
Pages:
Source:
AMCS, volume 32, number 3 (2022) ; click here to follow the link
Language:
License CC BY 4.0:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- Repository > Faculties > Faculty of Computer, Electrical and Control Engineering
- Repository > Types of work > Articles
- Repository > Scientific journals and UZ publishing series > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (2022)
Last modified:
Jul 23, 2025
In our library since:
Jul 23, 2025
Number of object content hits:
9
All available object's versions:
https://zbc.uz.zgora.pl/repozytorium/publication/101489
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 32, number 1 (2022)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 32, number 2 (2022)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 32, number 3 (2022)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 32, number 4 (2022)
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| Edition name | Date |
|---|---|
| Decentralized multi-agent formation control with pole-region placement via cone-complementarity linearization | Jul 23, 2025 |
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