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Set target aggregation of multiple mechanical systems
KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Electrical Engineering (EES), Automatic Control.ORCID iD: 0000-0001-7309-8086
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2014 (English)In: Proceedings of the IEEE Conference on Decision and Control, IEEE conference proceedings, 2014, no February, 6830-6835 p.Conference paper, Published paper (Refereed)
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.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2014. no February, 6830-6835 p.
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-176147DOI: 10.1109/CDC.2014.7040462Scopus ID: 2-s2.0-84931864776OAI: oai:DiVA.org:kth-176147DiVA: diva2:875053
Conference
2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014, 15 December 2014 through 17 December 2014
Note

QC 20151130

Available from: 2015-11-30 Created: 2015-11-02 Last updated: 2015-11-30Bibliographically approved

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Dimarogonas, Dimos VJohansson, Karl Henrik

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Meng, ZiyangYang, TaoShi, GuodongDimarogonas, Dimos VJohansson, Karl Henrik
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CiteExportLink to record
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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
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  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
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