文章基本信息

标题：Distributed dynamic containment control over a strongly connected and weight-balanced digraph
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作者：Yi-Fan Chung ; Solmaz S. Kia
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：20
页码：25-30
DOI：10.1016/j.ifacol.2019.12.137
语种：English
出版社：Elsevier
摘要：This paper proposes a distributed containment control solution for a group of communicating mobile agents that aim to track the convex hull spanned by a group of moving leaders with unknown dynamics. The communication topology of the mobile agents is described by a strongly connected and weight-balanced directed graph. In our problem setting the agents can communicate in discrete-time and also detect the leaders in specific sampling times. Our next contribution in this paper is to show how a group of unicycle robots can use our proposed containment control algorithm to track the convex hull of their jointly monitoring mobile leaders. In our proposed framework, the unicycle robots have continuous-time dynamics but communicate with each other in discrete-time fashion. We demonstrate our results through a numerical example.
关键词：KeywordsDistributed containment controlDynamic average consensusUnicycle robots