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Set target aggregation of multiple mechanical systems
KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.ORCID-id: 0000-0001-7309-8086
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2014 (engelsk)Inngår i: Proceedings of the IEEE Conference on Decision and Control, IEEE conference proceedings, 2014, nr February, s. 6830-6835Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

In this paper, we study the set target aggregation problem of multiple mechanical systems. Each system is modeled by a Lagrangian dynamical equation and observes a convex set as its local target. The objective of the group is to reach an aggregation towards these target sets.We propose a set target aggregation algorithm that is constructed based on each mechanical system's own target sensing and the exchange of its information with local neighbors. With necessary connectivity for both fixed and switching communication topologies, multiple mechanical systems are shown to converge to the intersection of all the local target sets while the vectors of generalized coordinate derivatives are driven to zero. Simulations are given to validate the theoretical results.

sted, utgiver, år, opplag, sider
IEEE conference proceedings, 2014. nr February, s. 6830-6835
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-176147DOI: 10.1109/CDC.2014.7040462Scopus ID: 2-s2.0-84931864776OAI: oai:DiVA.org:kth-176147DiVA, id: diva2:875053
Konferanse
2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014, 15 December 2014 through 17 December 2014
Merknad

QC 20151130

Tilgjengelig fra: 2015-11-30 Laget: 2015-11-02 Sist oppdatert: 2015-11-30bibliografisk kontrollert

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Dimarogonas, Dimos VJohansson, Karl Henrik

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