Formation control and coordinated tracking via asymptotic decoupling for Lagrangian multi-agent systems

Mastellone, Silvia; Mejía, Juan S.; Stipanović, Dušan M.; Spong, Mark W.

doi:10.1016/j.automatica.2011.08.030

Cited by 44 publications

(21 citation statements)

References 19 publications

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“…Extensive reviews of results on singular perturbation, has given in [13], [21], [22] and [23]. The following Lemma which is required to prove our results, is from [13], [7]. Lemma 1 Consider the singularly perturbed systeṁ…”

Section: B Stability Of Singularly Perturbed Systemsmentioning

confidence: 97%

“…It is noted that two time scale analysis for the formation control of a single group is given [7]. Motivated by the results, three time scale convergence analysis of proposed control law (10) for multiple groups of robots, is stated in the form of the following theorem.…”

Section: Three Time Scale Behaviour Of Multiple Groups Of Agentsmentioning

confidence: 98%

“…A variation of this has been reported in [10], in which the control law guarantees that the agents should be inside a predefined geometric region and the centroid of the region will track the given trajectory. Another centroid based transformation approach to the this problem is shown in [7], where singular perturbation based controller has been designed so that formation is achieved faster than tacking. Literatures [11], [12] give an extensive exploitation of Jacobi transformation to separate formation control and tracking control.…”

Section: Introductionmentioning

confidence: 99%

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Formation control of multiple groups of robots

Sarkar

Kar

2013

52nd IEEE Conference on Decision and Control

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Formation of multiple groups of agents is an important issue to generate different geometric patterns and shapes. In this paper, a centroid based transformation (CBT), that captures the constraint relationship among agents, has been introduced for multiple groups of agents, and it decomposes the combined dynamics of double integrator systems into intra group shape dynamics, inter group shape dynamics, and the dynamics of the centroid. Upon application of the transformation, a modular architecture is formed, which gives the flexibility to design separate control laws for intra group, inter group shape variables, and the tracking control of the centroid. A new control law has been proposed such that the overall error dynamics becomes singularly perturbed system. Three time scale convergence of the error dynamics, has been achieved by selecting suitable controller gains, and also order of the system is significantly reduced after the convergence of the intra and inter group shape variables. Negative gradient of a potential based function has been appended to the controller to ensure collision avoidance among the agents. Simulation results has been provided to demonstrate the effectiveness of the proposed controller.

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Section: B Stability Of Singularly Perturbed Systemsmentioning

confidence: 97%

Section: Three Time Scale Behaviour Of Multiple Groups Of Agentsmentioning

confidence: 98%

Section: Introductionmentioning

confidence: 99%

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Formation control of multiple groups of robots

Sarkar

Kar

2013

52nd IEEE Conference on Decision and Control

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“…Various multi-agent problems, such as formation flying (Mastellone, Mejia, Stipanovic, & Spong, 2011), navigation (van den Berg, Lin, & Manocha, 2008, flocking (Olfati-Saber, 2006), and rendezvous (Cortés, Martínez, & Bullo, 2006) have been studied in both science and engineering. In these problems, multiple agents perform cooperative tasks in close proximity, and thus collision avoidance plays a critical role.…”

Section: Introductionmentioning

confidence: 99%

Avoiding the local-minimum problem in multi-agent systems with limited sensing and communication

Okamoto

Akella

2014

International Journal of Systems Science

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In this paper, we consider a control problem for nonholonomic multi-agent systems in which agents and obstacles operate within a circular-shaped work area. We assume that agents only have limited sensing and communication ranges. We propose a novel control scheme using potential functions that drives agents from the initial to the goal configuration while avoiding collision with other agents, obstacles, and the boundary of the work area. The control scheme employs an avoidance strategy that ensures that the agents are never trapped at local minima that are typically encountered with most potential functionbased approaches. A numerical simulation is presented to demonstrate the validity and effectiveness of the proposed control scheme.

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“…[1,[4][5][6][7][8][9]). Some of these results have been used to control vehicles (holonomic, nonholonomic mobile robots, etc.).…”

Section: Introductionmentioning

confidence: 99%