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Formation Control for Multi-Agent Systems with Connectivity Preservation and Predictive Self-Triggered Controllers
KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0003-4299-0471
KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Electrical Engineering (EES), Automatic Control.
KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Electrical Engineering (EES), Automatic Control.
(English)Manuscript (preprint) (Other academic)
Abstract [en]

In this paper, event-triggered algorithms and predictive self-triggered algorithms are proposed to establish the formation with connectivity preservation for multi-agentĀ  ystems.

Each agent only needs to update its control input by sensing the relative state information and to broadcast its triggering information to its neighbors at its own triggering times, and to listen and to receive its neighbors' triggering information at their triggering times. Two types of system dynamics, single integrators and double integrators, are considered. As a result, all agents converge to the formation exponentially with connectivity preservation and exclusion of Zeno behavior. Numerical simulations show the eectiveness of the theoretical results.

National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-205561OAI: oai:DiVA.org:kth-205561DiVA, id: diva2:1089206
Note

QCR 20170519

Available from: 2017-04-18 Created: 2017-04-18 Last updated: 2017-05-19Bibliographically approved

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fulltext(421 kB)96 downloads
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Yi, XinleiWei, JieqiangDimarogonas, Dimos V.Johansson, Karl H.
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CiteExportLink to record
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Citation style
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Output format
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