Decentralized Multi–Agent Formation Control with Pole–Region Placement via Cone–Complementarity Linearization

IF 1.6 4区计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS

International Journal of Applied Mathematics and Computer Science Pub Date : 2022-09-01 DOI:10.34768/amcs-2022-0030

A. Gonzalez, A. Sala, L. Armesto

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引用次数: 0

Abstract

Abstract An output-feedback decentralised formation control strategy is pursued under pole-region constraints, assuming that the agents have access to relative position measurements with respect to a set of neighbors in a graph describing the sensing topology. No communication between the agents is assumed; however, a shared one-way communication channel with a pilot is needed for steering tasks. Each agent has a separate copy of the same controller. A virtual structure approach is presented for the formation steering as a whole; actual formation control is established via cone-complementarity linearization algorithms for the appropriate matrix inequalities. In contrast to other research where only stable consensus is pursued, the proposed method allows us to specify settling-time, damping and bandwidth limitations via pole regions. In addition, a full methodology for the decoupled handling of steering and formation control is provided. Simulation results in the example section illustrate the approach.

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基于锥互补线性化的极点区域分散多智能体编队控制

摘要在极点区域约束下，假设智能体可以获得描述感知拓扑的图中一组邻居的相对位置测量值，采用输出反馈分散编队控制策略。假设代理之间没有通信;然而，需要一个与飞行员共享的单向通信通道来完成驾驶任务。每个代理都有同一控制器的单独副本。提出了一种整体编队转向的虚拟结构方法;利用锥互补线性化算法对相应的矩阵不等式建立实际的编队控制。与其他只追求稳定共识的研究相反，本文提出的方法允许我们通过极点区域指定沉降时间、阻尼和带宽限制。此外，还提供了一个完整的方法来解耦处理转向和地层控制。示例部分中的仿真结果说明了这种方法。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

International Journal of Applied Mathematics and Computer Science 工程技术-计算机：人工智能

CiteScore

4.10

自引率

21.10%

发文量

审稿时长

4.2 months

期刊介绍： The International Journal of Applied Mathematics and Computer Science is a quarterly published in Poland since 1991 by the University of Zielona Góra in partnership with De Gruyter Poland (Sciendo) and Lubuskie Scientific Society, under the auspices of the Committee on Automatic Control and Robotics of the Polish Academy of Sciences. The journal strives to meet the demand for the presentation of interdisciplinary research in various fields related to control theory, applied mathematics, scientific computing and computer science. In particular, it publishes high quality original research results in the following areas: -modern control theory and practice- artificial intelligence methods and their applications- applied mathematics and mathematical optimisation techniques- mathematical methods in engineering, computer science, and biology.