Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/71595
Title: Region tracking control for multi-agent systems with high-order dynamics
Authors: Ren, B.
Ge, S.S. 
Lee, T.H. 
Krstic, M.
Issue Date: 2013
Source: Ren, B.,Ge, S.S.,Lee, T.H.,Krstic, M. (2013). Region tracking control for multi-agent systems with high-order dynamics. Proceedings of the American Control Conference : 1266-1271. ScholarBank@NUS Repository.
Abstract: In this paper, decentralized controllers are developed to drive a swarm of mobile agents with high-order (m > 2) nonlinear dynamics in strict feedback form into a moving target region while avoiding collisions among themselves. At the same time, the connectivity of the communication graph remains for all time. It is important to consider coordination of multiple high-order agent dynamics which generalize the existing simple single-integrator/double-integrator ones because, in practice, we need to incorporate actuator dynamics into the vehicle dynamics in order to achieve better performance, thus increasing the order of the system dynamics. The control design is based on a fusion of potential functions, backstepping technique and Lyapunov synthesis. The presence of parametric uncertainties is handled by adaptive control techniques. Simulation studies have been carried out to verify the effectiveness of the proposed approach. © 2013 AACC American Automatic Control Council.
Source Title: Proceedings of the American Control Conference
URI: http://scholarbank.nus.edu.sg/handle/10635/71595
ISBN: 9781479901777
ISSN: 07431619
Appears in Collections:Staff Publications

Show full item record
Files in This Item:
There are no files associated with this item.

Page view(s)

15
checked on Dec 9, 2017

Google ScholarTM

Check


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.