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Leader-follower For...
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Chen, FeiKTH,Reglerteknik
(författare)
Leader-follower Formation Control with Prescribed Performance Guarantees
- Artikel/kapitelEngelska2020
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Institute of Electrical and Electronics Engineers (IEEE),2020
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LIBRIS-ID:oai:DiVA.org:kth-286307
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https://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-286307URI
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https://doi.org/10.1109/TCNS.2020.3029155DOI
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Språk:engelska
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Sammanfattning på:engelska
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Ämneskategori:ref swepub-contenttype
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Ämneskategori:art swepub-publicationtype
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QC 20220426
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This paper addresses the problem of achieving relative position-based formation control for leader-follower multi-agent systems in a distributed manner using a prescribed performance strategy. Both the first and second-order cases are treated and a leader-follower framework is introduced in the sense that a group of agents with external inputs are selected as leaders in order to drive the group of followers in a way that the entire system achieves a target formation within certain prescribed performance transient bounds. Under the assumption of tree graphs, a distributed control law is proposed for the first-order case when the decay rate of the performance functions is within a sufficient bound. Then, two classes of tree graphs that can have additional followers are investigated. For the second-order case, we propose a distributed control law based on a backstepping approach for the group ofleaders to steer the entire system achieving the target formation within the prescribed performance bounds. Finally, several simulation examples are given to illustrate the results.
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Dimarogonas, Dimos V.KTH,Reglerteknik(Swepub:kth)u1zrhfkn
(författare)
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KTHReglerteknik
(creator_code:org_t)
Sammanhörande titlar
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Ingår i:IEEE Transactions on Control of Network Systems: Institute of Electrical and Electronics Engineers (IEEE)2325-5870
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