Cooperative Control Design for Time-Varying Formations of Multi-Agent Systems

Lara Briñon Arranz 1 Alexandre Seuret 2 Carlos Canudas de Wit 3
2 LAAS-MAC - Équipe Méthodes et Algorithmes en Commande
LAAS - Laboratoire d'analyse et d'architecture des systèmes [Toulouse]
3 NECS - Networked Controlled Systems
Inria Grenoble - Rhône-Alpes, GIPSA-DA - Département Automatique
Abstract : This paper deals with cooperative control design for nonlinear multi-agent systems. The control objective is to ensure that a group of agents reaches a formation characterized by external time-varying parameters. Firstly, a translation control design is presented to stabilize the multi-agent system to a circular motion tracking a time-varying center. Then, we propose a new framework based on affine transformations to extend previous results to more complex time-varying formations. Moreover, both control laws are improved adding a cooperative term to distribute the agents uniformly along the formation.
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Lara Briñon Arranz, Alexandre Seuret, Carlos Canudas de Wit. Cooperative Control Design for Time-Varying Formations of Multi-Agent Systems. IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, 2014, 59 (8), pp.2283-2288. ⟨hal-00932841⟩

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