http://scholars.ntou.edu.tw/handle/123456789/22875
標題: | Ordered formation control and affine transformation of Multi-Agent Systems without global reference frame | 作者: | Yu-Wen Chen Ming-Li Chiang Li-Chen Fu |
關鍵字: | Shape;Trajectory;Angular velocity;Mathematical model;Graph theory;Multi-agent systems;Task analysis | 公開日期: | 七月-2019 | 來源出版物: | 2019 American Control Conference (ACC) | 會議論文: | 2019 American Control Conference (ACC) | 摘要: | The purpose of this paper is to design a control law such that the multi-agent system can form into arbitrary shape, rotate around the centroid which tracks a given trajectory, and further adjust the formation into various shapes based on the affine transformation command. Moreover, the specified order between agents is crucial in some tasks, and hence ordered formation is addressed in our approach. The information for controller is measured locally from the neighbors and is in the local reference frames. To facilitate the goals, we propose an extended model and introduce the penalty flow exchanging mechanism which deals with the ordered formation. The control law is derived based on stability analysis, and a simulation example is provided to validate our results. |
描述: | 10-12 July 2019 Philadelphia, PA, USA |
URI: | http://scholars.ntou.edu.tw/handle/123456789/22875 | DOI: | 10.23919/ACC.2019.8814449 |
顯示於: | 電機工程學系 |
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