Formation control of multi-agent systems with double integrator dynamics using delayed static output feedback

Deshpande, Paresh; Menon, Prathyush P.; Edwards, Christopher; Postlethwaite, Ian

doi:10.1109/cdc.2011.6161074

Cited by 10 publications

(6 citation statements)

References 40 publications

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“…We consider that the motion of each agent is described by single integrator dynamics 1 , as commonly used in literature [Cao et al (2007), Dimarogonas et al (2009), Pavone & Frazzoli (2006)]. Note that other common modelling choices for multi robotcontrol also include, for example, double-integrator dynamics [Deshpande et al (2011), Cao et al (2011), Ren et al (2008)] or unicycle kinematic models ; Bishop (2011a); Basiri et al (2010)]. We then have:q…”

Section: System Descriptionmentioning

confidence: 99%

Distributed control of compact formations for multi-robot swarms

Campos

Dimarogonas

Seuret

et al. 2017

IMA Journal of Mathematical Control and Information

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This paper proposes a distributed algorithm for the compact deployment of robots, using both distanceand angular-based arguments in the controllers' design. Our objective is to achieve a configuration maximizing the coverage of the environment while increasing the graph's connectivity. First, we provide: (i) a dispersion protocol guaranteeing connectivity maintenance; and (ii) a compactness controller with static and variable control gains that minimizes the inter-agent angles. Second, we present a sequential, multi-stage strategy and analyse its stability. Finally, we validate our theoretical results with simulations, where a group of robots are deployed to carry out sensing or communication tasks.

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Section: System Descriptionmentioning

confidence: 99%

Distributed control of compact formations for multi-robot swarms

Campos

Dimarogonas

Seuret

et al. 2017

IMA Journal of Mathematical Control and Information

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“…The link between formation control and the consensus problem is suggested through the use of graph theoretical methods in papers as [7,42,44]. However, most of the theoretically oriented approach to the formation problem is done by means of consensus analysis on networks composed solely by double integrators systems, [1,13,16,27,30,32,62]. This special kind of dynamics ease the consensus analysis on the networks greatly, but are difficult to generalize into more complex scenarios.…”

Section: Loopless Laplacian Controllermentioning

confidence: 99%

Consensus in Multi‐agent Systems

Wen

Chen

et al. 2016

Distributed Cooperative Control of Multi‐agent Systems

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A Carlos Elías y a Marina. AbstractDuring the last decade, the problem of consensus in multiagents systems has been studied with special emphasis on graph theoretical methods. Consensus can be regarded as a control objective in which is sought that all systems, or agents, in a network have an equivalent output value. This is achieved through a given control strategy usually referred to as consensus algorithm. The motivation to study such an objective comes from different areas, such as engineering, and social and natural sciences. In the control engineering field, important application examples are formation control of swarms of mobile robots and distributed electric generation. Most of the work in this area is done for agents with single or double integrator dynamics and algorithms derived as the Laplacian matrix of undirected graphs. That is, consensus is often studied as a property of particular networks and particular algorithms.In this thesis, we tackle the problem from a Control Theory perspective in an attempt to augment the class of systems that can be studied. For that we translate the consensus problem from its classical formulation for integrator systems into a general continuous time stability problem. From here, different algorithmic strategies under several dynamical assumptions of the agents can be studied through well known control theoretical tools -as Lyapunov's theory, linear matrix inequalities (LMI), or robust control -along with graph theoretical concepts. In particular, in this work we study consensus of agents with arbitrary linear dynamics under the influence of linear algorithms not necessarily derived from graphs. Furthermore, we include the possibility that the agents are disturbed by several factors as external signals, parameter uncertainties, switching dynamics, or communication failure. The theoretical analysis is also applied to the problem of power sharing in electric grids and to the analysis of distributed formation control.

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“…M , represent decision variables which parameterize the discretized Lyapunov functional from Proposition 5.22 in [14]. For specific details of the LMIs in (22) see [6]. Provided the gains k 1 and k 2 , the delay τ , and the decay rate α are fixed, the LMI in (22) provides a tractable feasibility check for stability for the system in (21).…”

Section: Design Proceduresmentioning

confidence: 99%

“…In the literature, see for example [3]- [5] to name but a few, state feedback has been used to obtain consensus. Consensus algorithms using double integrator dynamics, representing position and velocity information, have also been applied for formation control; see [4] - [6] and the references therein. However the measurement of all the states of a system is not viable in many practical problems.…”

Section: Introductionmentioning

confidence: 99%

Delayed static output feedback control of a network of double integrator agents

2013

Self Cite

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This paper considers a network of vehicles moving in a two dimensional plane. The overall network, described by a collection of double integrator dynamics, is controlled by a novel distributed static output feedback methodology to maintain a desired formation. The distributed control architecture stabilizes the network using static output feedback of position information only, by exploiting delays in communication of the relative information. An optimization algorithm, based on Linear Matrix Inequalities together with the DIRECT search algorithm, is used to synthesize the controller gains and the delay.

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Formation control of multi-agent systems with double integrator dynamics using delayed static output feedback

Cited by 10 publications

References 40 publications

Distributed control of compact formations for multi-robot swarms

Distributed control of compact formations for multi-robot swarms

Consensus in Multi‐agent Systems

Delayed static output feedback control of a network of double integrator agents

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