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Formation Control for Multi-Agent Systems with Connectivity Preservation and Event-Triggered Controllers
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0003-4299-0471
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. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-7309-8086
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-9940-5929
2017 (English)In: IFAC-PapersOnLine, ISSN 1045-0823, E-ISSN 1797-318X, Vol. 50, no 1, p. 9367-9373Article in journal (Refereed) Published
Abstract [en]

In this paper, event-triggered controllers and corresponding algorithms are proposed to establish the formation with connectivity preservation for multi-agent systems. Each agent needs to update its control input and to broadcast this control input together with the relative state information to its neighbors at its own triggering times, and to receive information at its neighbors' 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 Zeno behavior can be excluded. Numerical simulations show the effectiveness of the theoretical results.

Place, publisher, year, edition, pages
IFAC Papers Online, 2017. Vol. 50, no 1, p. 9367-9373
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-205565DOI: 10.1016/j.ifacol.2017.08.1444ISI: 000423965100060Scopus ID: 2-s2.0-85031774130OAI: oai:DiVA.org:kth-205565DiVA, id: diva2:1089209
Conference
The 20th IFAC World congress,9-14 July 2017, Toulouse, France
Funder
Knut and Alice Wallenberg FoundationSwedish Foundation for Strategic Research Swedish Research Council
Note

QC 20170419

Available from: 2017-04-18 Created: 2017-04-18 Last updated: 2018-03-05Bibliographically approved

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