多智能体协调的控制Lyapunov函数方法

Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228) Pub Date : 2001-12-04 DOI:10.1109/CDC.2001.981040

Petter Ögren, M. Egerstedt, Xiaoming Hu

{"title":"多智能体协调的控制Lyapunov函数方法","authors":"Petter Ögren, M. Egerstedt, Xiaoming Hu","doi":"10.1109/CDC.2001.981040","DOIUrl":null,"url":null,"abstract":"In this paper, the multiagent coordination problem is studied. This problem is addressed for a class of robots for which control Lyapunov functions can be found. The main result is a suite of theorems about formation maintenance, task completion time, and formation velocity. It is also shown how to moderate the requirement that, for each individual robot, there exists a control Lyapunov function. An example is provided that illustrates the soundness of the method.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"376 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"500","resultStr":"{\"title\":\"A control Lyapunov function approach to multi-agent coordination\",\"authors\":\"Petter Ögren, M. Egerstedt, Xiaoming Hu\",\"doi\":\"10.1109/CDC.2001.981040\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, the multiagent coordination problem is studied. This problem is addressed for a class of robots for which control Lyapunov functions can be found. The main result is a suite of theorems about formation maintenance, task completion time, and formation velocity. It is also shown how to moderate the requirement that, for each individual robot, there exists a control Lyapunov function. An example is provided that illustrates the soundness of the method.\",\"PeriodicalId\":131411,\"journal\":{\"name\":\"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)\",\"volume\":\"376 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2001-12-04\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"500\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CDC.2001.981040\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CDC.2001.981040","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 500

摘要

本文研究了多智能体协调问题。对于一类可以找到控制李雅普诺夫函数的机器人，我们解决了这个问题。主要结果是一套关于地层维护、任务完成时间和地层速度的定理。还展示了如何调节要求，对于每个单独的机器人，存在一个控制李雅普诺夫函数。最后给出了一个算例，说明了该方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

A control Lyapunov function approach to multi-agent coordination

In this paper, the multiagent coordination problem is studied. This problem is addressed for a class of robots for which control Lyapunov functions can be found. The main result is a suite of theorems about formation maintenance, task completion time, and formation velocity. It is also shown how to moderate the requirement that, for each individual robot, there exists a control Lyapunov function. An example is provided that illustrates the soundness of the method.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)

自引率

0.00%

发文量