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Robust consensus of unicycles using ternary and hybrid controllers
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.
2017 (English)In: International Journal of Robust and Nonlinear Control, ISSN 1049-8923, E-ISSN 1099-1239, Vol. 27, no 17, p. 4013-4034Article in journal (Refereed) Published
Abstract [en]

This paper presents consensus of the orientations and average positions for a group of unicycles using ternary and hybrid controllers. The decentralized controllers designed to reach consensus of the average positions take only values in the set {-1; 0; +1}. In addition, a hybrid controller is introduced to control the orientations. Finite-time practical consensus of the average positions is proven despite the simple ternary control laws together with asymptotic consensus of the orientations. Furthermore, the consensus problem is studied in the presence of matched input disturbances that are locally rejected using an internal-model-based controller. The analysis is performed in a hybrid framework. Simulation results illustrate the effectiveness of the design.

Place, publisher, year, edition, pages
Wiley-Blackwell, 2017. Vol. 27, no 17, p. 4013-4034
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-220625DOI: 10.1002/rnc.3784ISI: 000417576400032Scopus ID: 2-s2.0-85014093270OAI: oai:DiVA.org:kth-220625DiVA, id: diva2:1173330
Note

QC 20180112

Available from: 2018-01-12 Created: 2018-01-12 Last updated: 2018-01-12Bibliographically approved

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Jafarian, Matin

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  • Other locale
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