文章基本信息

标题：Robust Distance-Based Formation Control of Multiple Rigid Bodies with Orientation Alignment
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作者：Alexandros Nikou ; Christos K. Verginis ; Dimos V. Dimarogonas 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：15458-15463
DOI：10.1016/j.ifacol.2017.08.2104
语种：English
出版社：Elsevier
摘要：AbstractThis paper addresses the problem of distance- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in 3D space, under static and undirected communication topologies. More specifically, we design a decentralized model-free control protocol in the sense that each agent uses only local information from its neighbors to calculate its own control signal, without incorporating any knowledge of the model nonlinearities and exogenous disturbances. Moreover, the transient and steady state response is solely determined by certain designer-specified performance functions and is fully decoupled by the agents’ dynamic model, the control gain selection, the underlying graph topology as well as the initial conditions. Additionally, by introducing certain inter-agent distance constraints, we guarantee collision avoidance and connectivity maintenance between neighboring agents. Finally, simulation results verify the performance of the proposed controllers.
关键词：KeywordsMulti-agent systemsCooperative systemsDistributed nonlinear controlNonlinear cooperative controlRobust control