DocumentCode
2381913
Title
Control of formations under persistent disturbances
Author
Lafferriere, Gerardo ; Mathia, Karl
Author_Institution
Dept. of Math. & Stat., Portland State Univ., Portland, OR
fYear
2008
fDate
11-13 June 2008
Firstpage
795
Lastpage
800
Abstract
We study the distributed control of autonomous second order agents under persistent disturbances. We show that the usual averaging rule for convergence to formation is only able to reject constant disturbances that are identical for each agent. We also prove that using a distributed dynamic compensation law the system can be made to converge to formation under constant perturbations of the control input even when the perturbations are different for each agent. We illustrate the results with numerical simulations.
Keywords
distributed control; graph theory; robots; autonomous second order agents; constant disturbances; distributed control; distributed dynamic compensation; formations control; persistent disturbances; Communication system control; Control systems; Convergence; Distributed control; Eigenvalues and eigenfunctions; Feedback; Laplace equations; Numerical simulation; Symmetric matrices; Vehicles; cooperative control; decentralized control; disturbance rejection; dynamic compensation; formation stability; graph Laplacian;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2008
Conference_Location
Seattle, WA
ISSN
0743-1619
Print_ISBN
978-1-4244-2078-0
Electronic_ISBN
0743-1619
Type
conf
DOI
10.1109/ACC.2008.4586590
Filename
4586590
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