{"title":"具有维护和控制网络连接的多智能体编队控制","authors":"R. Dutta, Liang Sun, D. Pack","doi":"10.1109/ACC.2016.7525051","DOIUrl":null,"url":null,"abstract":"In this paper, we investigate a target-centric formation controller for multiple unmanned aerial vehicles (UAVs), and explore its ability to maintain as well as to control network connectivity. Desired formations and connectivities of multi-agent system are achieved using a distributed nonlinear controller. We present a sufficient condition to maintain network connectivity by posing bounds on the controller gains. Moreover, we show how a desired network connectivity profile can be obtained by varying controller gains during dynamics. Simulation results validate the effectiveness of the decentralized formation controller in controlling as well as maintaining connectivity.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"12","resultStr":"{\"title\":\"Multi-agent formation control with maintaining and controlling network connectivity\",\"authors\":\"R. Dutta, Liang Sun, D. Pack\",\"doi\":\"10.1109/ACC.2016.7525051\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, we investigate a target-centric formation controller for multiple unmanned aerial vehicles (UAVs), and explore its ability to maintain as well as to control network connectivity. Desired formations and connectivities of multi-agent system are achieved using a distributed nonlinear controller. We present a sufficient condition to maintain network connectivity by posing bounds on the controller gains. Moreover, we show how a desired network connectivity profile can be obtained by varying controller gains during dynamics. Simulation results validate the effectiveness of the decentralized formation controller in controlling as well as maintaining connectivity.\",\"PeriodicalId\":137983,\"journal\":{\"name\":\"2016 American Control Conference (ACC)\",\"volume\":\"34 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2016-08-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"12\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2016 American Control Conference (ACC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ACC.2016.7525051\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 American Control Conference (ACC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ACC.2016.7525051","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Multi-agent formation control with maintaining and controlling network connectivity
In this paper, we investigate a target-centric formation controller for multiple unmanned aerial vehicles (UAVs), and explore its ability to maintain as well as to control network connectivity. Desired formations and connectivities of multi-agent system are achieved using a distributed nonlinear controller. We present a sufficient condition to maintain network connectivity by posing bounds on the controller gains. Moreover, we show how a desired network connectivity profile can be obtained by varying controller gains during dynamics. Simulation results validate the effectiveness of the decentralized formation controller in controlling as well as maintaining connectivity.
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