Time-varying Containment Problem for Multi-agent Systems

被引：0
|
作者：
Santiaguillo-Salinas, J. [1 ]
Aranda-Bricaire, E. [1 ]
机构：
[1] CINVESTAV, Mechatron Sect, Dept Elect Engn, Mexico City 07000, DF, Mexico
来源：
2013 10TH INTERNATIONAL CONFERENCE ON ELECTRICAL ENGINEERING, COMPUTING SCIENCE AND AUTOMATIC CONTROL (CCE) | 2013年
关键词：
Time-varying Formation; Containment Problem; Marching Control; Multi-agent Systems; Unicycle-type Robots;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper studies a time-varying version of the so-called containment problem for multi-agent systems. The proposed control strategy is decentralized and allows a subset of mobile agents (called leaders) to track a predetermined trajectory while they achieve a time-varying formation. Simultaneously, another subset of mobile agents (called followers) converge exponentially to the area bounded by the leaders. The results are presented for the front points of unicycle-type robots. The theoretical results are verified by numerical simulation.
引用
收藏
页码：358 / 363
页数：6
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