Abstract
This paper introduces a novel decentralized distance-based formation controller for multi-agent systems by imposing constraints on inter-agent distance errors. Using a Nonlinear Mapping Technique (NMT) for dealing with the distance errors constraints, the problems of connectivity maintenance and collision avoidance between neighboring agents are handled. Furthermore, the proposed control scheme increases formation robustness and prevents convergence of the formation to incorrect shapes when external effects such as disturbances exist. Using Lyapunov based analysis the results are proved for both single and double integrator agent models where the target formation is minimally and infinitesimally rigid in 2-D or 3-D space.
| Original language | English |
|---|---|
| Title of host publication | 2017 IEEE 4th International Conference on Knowledge-Based Engineering and Innovation, KBEI 2017 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 741-746 |
| Number of pages | 6 |
| ISBN (Electronic) | 9781538626405 |
| DOIs | |
| Publication status | Published - 2 Jul 2017 |
| Externally published | Yes |
| Event | 4th IEEE International Conference on Knowledge-Based Engineering and Innovation, KBEI 2017 - Tehran, Iran, Islamic Republic of Duration: 22 Dec 2017 → … |
Publication series
| Name | 2017 IEEE 4th International Conference on Knowledge-Based Engineering and Innovation, KBEI 2017 |
|---|---|
| Volume | 2018-January |
Conference
| Conference | 4th IEEE International Conference on Knowledge-Based Engineering and Innovation, KBEI 2017 |
|---|---|
| Country/Territory | Iran, Islamic Republic of |
| City | Tehran |
| Period | 22/12/17 → … |
Bibliographical note
Publisher Copyright:© 2017 IEEE.
Keywords
- Collision Avoidance
- Connectivity Maintenance
- Formation Control
- Multi-Agent System
- Nonlinear Mapping Technique
- Rigid Graph
