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Adaptive Leader-Follower Coordination of Lagrangian Multi-Agent Systems under Transient Constraints
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).ORCID iD: 0000-0002-4289-2866
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control). KTH, School of Electrical Engineering and Computer Science (EECS), Centres, Centre for Autonomous Systems, CAS. KTH, School of Electrical Engineering and Computer Science (EECS), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-7309-8086
2019 (English)Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents a novel control methodologyfor the coordination of a multi-agent system with 2nd orderuncertain Lagrangian dynamics, while guaranteeing collisionand connectivity properties in the transient state. More specifically,we consider that a leader agent aims at tracking adesired pose, while all the agents must avoid collisions witheach other. Motivated by cooperative tasks, we also considerthat a subset of the initially connected agents must remainconnected, in the sense of a connected sensing graph.We employa key property of the incidence matrix and integrate potentialfields with discontinuous adaptive control laws to compensatefor unknown dynamic parameters of the model and externaldisturbances. Simulation results in a realistic dynamics engineillustrate the theoretical findings.

Place, publisher, year, edition, pages
2019.
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-267488OAI: oai:DiVA.org:kth-267488DiVA, id: diva2:1392580
Conference
IEEE Conference on Decision and Control
Funder
Wallenberg FoundationsSwedish Research CouncilEU, Horizon 2020, BUCOPHSYSEU, Horizon 2020, 731869 (Co4Robots)Swedish Foundation for Strategic Research
Note

QC 20200217

Available from: 2020-02-07 Created: 2020-02-07 Last updated: 2020-02-17Bibliographically approved

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CiteExportLink to record
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