Disturbance Attenuation in Distance-based Formation Control: A Linear Matrix Inequality Approach

被引：0

作者：

Bae, Yoo-Bin ^{[1
]}

Lim, Young-Hun ^{[2
]}

Kang, Sung-Mo ^{[3
]}

Ahn, Hyo-Sung ^{[1
]}

机构：

[1] Gwangju Inst Sci & Technol GIST, Sch Mech Engn, 123 Cheomdangwagiro, Gwangju, South Korea

[2] Gyeongnam Natl Univ Sci & Technol GnTECH, Dept Elect Engn, 33 Dongjin Ro, Jinju 52725, South Korea

[3] Korea Inst Civil Engn & Bldg Technol KICT, Dept Infrastruct Safety Res, Goyang, South Korea

来源：

2018 IEEE CONFERENCE ON CONTROL TECHNOLOGY AND APPLICATIONS (CCTA) | 2018年

基金：

新加坡国家研究基金会;

关键词：

RIGID FORMATIONS; STABILIZATION; SYSTEMS; AGENTS;

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：

In this paper, we discuss disturbance attenuation problem in distance-based formation control under the exogenous disturbance. Based on the Lyapunov stability theory, we derive the matrix inequality condition for local asymptotic boundedness of the overall squared-distance errors of multi-agent system. Through simulations, we could see that there exists a positive definite symmetric matrix of linear matrix inequality(LMI), with bounded squared-distance errors of formation system.

引用

页码：1609 / 1614

页数：6

共 20 条

[1] Anderson B. D., 2008, IEEE CONTROL SYSTEMS, V28
[2] [Anonymous], 1985, Structural Topology
[3] RIGIDITY OF GRAPHS .2.
ASIMOW, L
ROTH, B
[J]. JOURNAL OF MATHEMATICAL ANALYSIS AND APPLICATIONS, 1979, 68 (01) : 171 - 190
[4] Belabbas A, 2012, IEEE DECIS CONTR P, P1445, DOI 10.1109/CDC.2012.6426284
[5] Controlling Rigid Formations of Mobile Agents Under Inconsistent Measurements
de Marina, Hector Garcia
Cao, Ming
Jayawardhana, Bayu
[J]. IEEE TRANSACTIONS ON ROBOTICS, 2015, 31 (01) : 31 - 39
[6] Dorfler Florian, 2009, 2009 European Control Conference (ECC), P2432
[7] BLOCK DIAGONALLY DOMINANT MATRICES AND GENERALIZATIONS OF GERSCHGORIN CIRCLE THEOREM
FEINGOLD, DG
VARGA, RS
[J]. PACIFIC JOURNAL OF MATHEMATICS, 1962, 12 (04) : 1241 - &
[8] CONDITIONS FOR UNIQUE GRAPH REALIZATIONS
HENDRICKSON, B
[J]. SIAM JOURNAL ON COMPUTING, 1992, 21 (01) : 65 - 84
[9] Stabilisation of infinitesimally rigid formations of multi-robot networks
Krick, Laura
Broucke, Mireille E.
Francis, Bruce A.
[J]. INTERNATIONAL JOURNAL OF CONTROL, 2009, 82 (03) : 423 - 439
[10] The multi-agent rendezvous problem - The asynchronous case
Lin, J
Morse, AS
Anderson, BDO
[J]. 2004 43RD IEEE CONFERENCE ON DECISION AND CONTROL (CDC), VOLS 1-5, 2004, : 1926 - 1931

← 1 2 →