Connectivity maintenance and distributed tracking for double-integrator agents with bounded potential functions
2015 (English)In: International Journal of Robust and Nonlinear Control, ISSN 1049-8923, E-ISSN 1099-1239, Vol. 25, no 4, 542-558 p.Article in journal (Refereed) Published
In this paper, we develop a set of decentralized control laws with bounded potential functions. The basic control law is a combination of attractive, repulsive, and alignment forces, which can keep connectivity, avoid collision, synchronize all agents, and further track a constant moving leader. Furthermore, we investigate the distributed tracking problem with a varying-velocity leader, where the acceleration of the leader can not be measured. Two cases are considered; the acceleration of the leader is bounded, and the acceleration function satisfies Lipschitz condition. In the first case, the relative velocities of neighbors are integrated and transmitted as a new variable to account for the uncertain time-varying acceleration. In the second case, two distributed estimators are added for the leader's position and velocity. Finally, some simulations are presented to show the effectiveness of the proposed algorithms.
Place, publisher, year, edition, pages
2015. Vol. 25, no 4, 542-558 p.
connectivity maintenance, distributed tracking, bounded potential function, double-integrator agents, varying-velocity leader
IdentifiersURN: urn:nbn:se:kth:diva-160358DOI: 10.1002/rnc.3105ISI: 000348059600006ScopusID: 2-s2.0-84921068932OAI: oai:DiVA.org:kth-160358DiVA: diva2:791083
FunderSwedish Foundation for Strategic Research
QC 201502262015-02-262015-02-192015-02-26Bibliographically approved