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Multi-agent deployment under the leader displacement measurement: a PDE-based approach
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).
Tel Aviv Univ, Sch Elect Engn, Tel Aviv, Israel..
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).ORCID iD: 0000-0001-5075-7229
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).ORCID iD: 0000-0001-9940-5929
2019 (English)In: 2019 18TH EUROPEAN CONTROL CONFERENCE (ECC), IEEE , 2019, p. 2424-2429Conference paper, Published paper (Refereed)
Abstract [en]

We study the deployment of a first-order multi-agent system over a desired smooth curve in 3D space. We assume that the agents have access to the local information of the desired curve and their displacements with respect to their closest neighbors, whereas in addition a leader is able to measure his absolute displacement with respect to the desired curve. In this paper we consider the case that the desired curve is a closed C-2 curve and we assume that the leader transmit his measurement to other agents through a communication network. We start the algorithm with displacement-based formation control protocol. Connections from this ODE model to a PDE model (heat equation), which can be seen as a reduced model, are then established. The resulting closed-loop system is modeled as a heat equation with delay (due to the communication). The boundary condition is periodic since the desired curve is closed. 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
IEEE , 2019. p. 2424-2429
Keywords [en]
Distributed parameters systems, Lyapunov method, Time delays, Multi-agent systems, Deployment
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-263399DOI: 10.23919/ECC.2019.8796132ISI: 000490488302073Scopus ID: 2-s2.0-85065516693OAI: oai:DiVA.org:kth-263399DiVA, id: diva2:1369540
Conference
18th European Control Conference (ECC), Naples, ITALY, JUN 25-28, 2019
Note

QC 20191112

Available from: 2019-11-12 Created: 2019-11-12 Last updated: 2019-11-12Bibliographically approved

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Wei, JieqiangSelivanov, AntonJohansson, Karl H.

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