Leader-following connectivity preservation rendezvous of multi-agent systems based only position measurements

Author

Yi Dong ; Jie Huang

Author_Institution

Shenzhen Res. Inst., Chinese Univ. of Hong Kong, Shenzhen, China

fYear

2013

fDate

10-13 Dec. 2013

Firstpage

6718

Lastpage

6723

Abstract

Recently, we investigated the problem of leader-following rendezvous with connectivity preservation for a double integrator multi-agent system subject to external disturbances by a full information feedback control. In this paper, we further study the same problem via the position feedback control only. Additionally, the formulation of the problem in this paper is more general than the previous one in that the disturbances to different followers can be different and these disturbance signals will not be used by the control law. Thus the result of this paper is more practical than that of the previous paper.

Keywords

feedback; mobile robots; multi-robot systems; position control; position measurement; connectivity preservation; control law; disturbance signals; double integrator multiagent systems; full information feedback control; leader-following rendezvous; position feedback control; position measurements; Closed loop systems; Feedback control; Lead; Multi-agent systems; Sensors; Silicon; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on

Conference_Location

Firenze

ISSN

0743-1546

Print_ISBN

978-1-4673-5714-2

Type

conf

DOI

10.1109/CDC.2013.6760953

Filename

6760953