Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
A PDE approach to deployment of mobile agents under leader relative position measurements
Tel Aviv Univ, Sch Elect Engn, Tel Aviv, Israel..
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.ORCID iD: 0000-0001-9940-5929
2019 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 106, p. 47-53Article in journal (Refereed) Published
Abstract [en]

We study the deployment of a first-order multi-agent system over a desired smooth curve in 2D or 3D space. We assume that the agents have access to the local information of the desired curve and their relative positions with respect to their closest neighbors, whereas in addition a leader is able to measure his relative position with respect to the desired curve. For the case of an open C-2 curve, we consider two boundary leaders that use boundary instantaneous static output-feedback controllers. For the case of a closed C-2 curve we assume that the leader transmits his measurement to other agents through a communication network. The resulting closed-loop system is modeled as a heat equation with a delayed (due to the communication) boundary state, where the state is the relative position of the agents with respect to the desired curve. By choosing appropriate controller gains (the diffusion coefficient and the gain multiplying the leader state), we can achieve any desired decay rate provided the delay is small enough. The advantage of our approach is in the simplicity of the control law and the conditions. Numerical example illustrates the efficiency of the method.

Place, publisher, year, edition, pages
PERGAMON-ELSEVIER SCIENCE LTD , 2019. Vol. 106, p. 47-53
Keywords [en]
Distributed parameters systems, Multi-agent systems, Time delays, Deployment
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-255403DOI: 10.1016/j.automatica.2019.04.040ISI: 000473380000006Scopus ID: 2-s2.0-85065528878OAI: oai:DiVA.org:kth-255403DiVA, id: diva2:1342832
Note

QC 20190814

Available from: 2019-08-14 Created: 2019-08-14 Last updated: 2019-08-14Bibliographically approved

Open Access in DiVA

No full text in DiVA

Other links

Publisher's full textScopus

Authority records BETA

Wei, JieqiangJohansson, Karl H.

Search in DiVA

By author/editor
Wei, JieqiangJohansson, Karl H.
By organisation
Automatic Control
In the same journal
Automatica
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 42 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf