Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • 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
Distributed coordination for connectivity-preserving flocking without velocity measurement
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.ORCID iD: 0000-0003-0177-1993
2011 (English)In: ASCC - Asian Control Conf. - Final Program Proc., 2011, 788-793 p.Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, we address the design of decentralized controller for connectivity-preserving flocking without velocity measurement. An output vector based on neighbors' position information alone is constructed to replace the role of velocity, then some bounded attractive and repulsive forces are integrated together to design the controller. Under some initial conditions, we prove that the controller not only can synchronize all agents, but also can avoid collision as well as preserving connectivity among agents for all the time. Moreover, a leader-follower method is used to guide the group to a desired direction, where the neighboring relationship is totally determined by the distance.

Place, publisher, year, edition, pages
2011. 788-793 p.
Series
ASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings
Keyword [en]
Decentralized controller, Distributed coordination, Initial conditions, Leader-follower, Output vectors, Position information, Repulsive forces, Controllers, Decentralized control, Velocimeters, Velocity measurement
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-151159Scopus ID: 2-s2.0-80051957357ISBN: 9788995605646 (print)OAI: oai:DiVA.org:kth-151159DiVA: diva2:747719
Conference
8th Asian Control Conference, ASCC 2011, 15-18 May 2011, Kaohsiung,Taiwan
Note

QC 20140917

Available from: 2014-09-17 Created: 2014-09-15 Last updated: 2014-09-17Bibliographically approved

Open Access in DiVA

No full text

Scopus

Authority records BETA

Hu, Xiaoming

Search in DiVA

By author/editor
Hu, Xiaoming
By organisation
Optimization and Systems Theory
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar

isbn
urn-nbn

Altmetric score

isbn
urn-nbn
Total: 38 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • 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