| Titre : | Consensus tracking under directed interaction topologies : algorithms and experiments (2011) |
| Auteurs : | Wei Ren, Auteur |
| Type de document : | Article : texte imprimé |
| Dans : | IEEE Transactions on control systems technology (Vol. 18 N° 1, Janvier 2010) |
| Article en page(s) : | pp. 230-237 |
| Note générale : | Génie Aérospatial |
| Langues : | Anglais |
| Index. décimale : | 629.1 |
| Tags : | Consensus Cooperative control Formation Multi-vehicle systems |
| Résumé : |
Consensus tracking problems with, respectively, bounded control effort and directed switching interaction topologies are considered when a time-varying consensus reference state is available to only a subgroup of a team and the team members have only local interaction. A consensus tracking algorithm explicitly accounting for bounded control effort is proposed and analyzed under a directed fixed interaction topology. Furthermore, convergence analysis for a consensus tracking algorithm is provided when the time-varying consensus reference state is available to a dynamically changing subgroup of the team under directed switching inter-vehicle interaction topologies. Experimental results of a formation control application are demonstrated on a multi-robot platform to validate one of the proposed consensus tracking algorithms.
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| DEWEY : | 629.1 |
| ISSN : | 1063-6536 |
| En ligne : | http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5229136 |
