- Title
- A fully distributed approach to formation maneuvering control of multi-agent systems
- Creator
- Han, Zhimin; Lin, Zhiyun; Fu, Minyue
- Relation
- 53rd Institute of Electrical and Electronics Engineers (IEEE) Conference on Decision and Control. Proceedings of the 53rd Institute of Electrical and Electronics Engineers (IEEE) Conference on Decision and Control (Los Angeles, CA 15-17 December, 2014) p. 6185-6190
- Publisher Link
- http://dx.doi.org/10.1109/CDC.2014.7040358
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- conference paper
- Date
- 2014
- Description
- This paper studies the formation maneuvering control problem for a network of agents with the objective of achieving a desired group formation shape and a constant over-all group maneuvering velocity. A fully distributed approach is developed to solve the problem. That is, a control law is proposed for each agent in the network, with its parameters capable of being designed in a distributed manner, and is implementable locally via relative sensing and communication with neighbors. Necessary and sufficient conditions regarding a critical control parameter are obtained to guarantee the globally asymptotic convergence of the overall system for both the single-integrator kinematics case and the double-integrator dynamics case.
- Subject
- shape; sensors; eigenvalues and eigenfunctions; laplace equations; kinematics; decentralized control; heuristic algorithms
- Identifier
- http://hdl.handle.net/1959.13/1342622
- Identifier
- uon:28994
- Identifier
- ISSN:0191-2216
- Language
- eng
- Reviewed
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