A Variable Gain Model-Independent Algorithm for Rendezvous of Euler-Lagrange Agents on Directed Networks

被引:0
作者
Ye, Mengbin [1 ]
Anderson, Brian D. O. [1 ,2 ,3 ]
Yu, Changbin [1 ,2 ]
机构
[1] Australian Natl Univ, Res Sch Engn, Canberra, ACT, Australia
[2] Hangzhou Dianzi Univ, Hangzhou, Zhejiang, Peoples R China
[3] Data61 CSIRO, Canberra, ACT, Australia
来源
2016 AUSTRALIAN CONTROL CONFERENCE (AUCC) | 2016年
基金
澳大利亚研究理事会; 中国国家自然科学基金;
关键词
SYSTEMS; COORDINATION; TRACKING; CONSENSUS;
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
A variable-gain model-independent control law is proposed to solve the problem of rendezvous to a leader for a directed network of Euler-Lagrange agents. A sufficiency condition for stability is developed, requiring centralised design of the two control gains. Compared to existing results which use constant-gain model-independent controllers for directed networks, our work has two key differences. Firstly, the damping term may begin at zero, and increases only if rendezvous has not been achieved. Constant-gain controllers use conservative gain values which negatively impact convergence speed. Secondly, we introduce a novel method of analysing the Lyapunov derivative, which provides useful and unique insight into analysis of variable-gain controllers for multi-agent systems. Simulations are provided to show the effectiveness of the controller.
引用
收藏
页码:153 / 158
页数:6
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