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Stress-matrix-based...
Stress-matrix-based formation scaling control
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- Yang, Qingkai (author)
- Beijing Institute of Technology,University of Groningen
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- Sun, Zhiyong (author)
- Lund University,Lunds universitet,Institutionen för reglerteknik,Institutioner vid LTH,Lunds Tekniska Högskola,Department of Automatic Control,Departments at LTH,Faculty of Engineering, LTH
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- Cao, Ming (author)
- University of Groningen
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- Fang, Hao (author)
- Beijing Institute of Technology
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- Chen, Jie (author)
- Beijing Institute of Technology
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(creator_code:org_t)
- Elsevier BV, 2019
- 2019
- English 8 s.
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In: Automatica. - : Elsevier BV. - 0005-1098. ; 101, s. 120-127
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http://dx.doi.org/10...
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Abstract
Subject headings
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- This paper investigates the formation scaling control problem for multi-agent systems by utilizing the stress matrix associated with a universally rigid framework. Compared with the existing results on formation scaling control, we consider a more challenging scenario where only one agent has the knowledge of the desired formation size. To cope with this constraint, we first propose a distributed estimator for the remaining agents to estimate the scaling parameter. Then by employing the outputs of the estimator, we design a new class of formation scaling control algorithms for universally rigid frameworks such that the overall formation converges to the prescribed shape with the desired scaling. Numerical simulations are carried out to validate the theoretical results.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Keyword
- Formation control
- Multi-agent systems
- Stress matrix
- Universal rigidity
Publication and Content Type
- art (subject category)
- ref (subject category)
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