Cloud-Supported Formation Control of Second-Order Multiagent Systems

被引：27

作者：

Adaldo, Antonio ^{[1
,2
]}

Liuzza, Davide ^{[3
]}

Dimarogonas, Dimos V. ^{[1
,2
]}

Johansson, Karl H. ^{[1
,2
]}

机构：

[1] KTH Royal Inst Technol, Sch Elect Engn, Dept Automat Control, S-10044 Stockholm, Sweden

[2] KTH Royal Inst Technol, Sch Elect Engn, ACCESS Linnaeus Ctr, S-10044 Stockholm, Sweden

[3] Univ Sannio, Dept Engn, I-82100 Benevento, Italy

来源：

IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS | 2018年 / 5卷 / 04期

基金：

瑞典研究理事会; 欧盟地平线“2020”;

关键词：

Cloud-supported control; second-order consensus; self-triggered control; CONSENSUS;

D O I：

10.1109/TCNS.2017.2732819

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 addresses a formation problem for a network of autonomous agents with second-order dynamics and bounded disturbances. Coordination is achieved by having the agents asynchronously upload (download) data to (from) a shared repository, rather than directly exchanging data with other agents. Well-posedness of the closed-loop system is demonstrated by showing that there exists a lower bound for the time interval between two consecutive agent accesses to the repository. Numerical simulations corroborate the theoretical results.

引用

页码：1563 / 1574

页数：12

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