DocumentCode :
3548971
Title :
Coordination of Multiple Dynamic Agents with Asymmetric Interactions
Author :
Shi, Hong ; Wang, Long ; Chu, Tianguang
Author_Institution :
Dept. of Mech. & Eng. Sci., Peking Univ., Beijing
fYear :
2005
fDate :
27-29 June 2005
Firstpage :
1423
Lastpage :
1428
Abstract :
This paper considers multiple mobile agents moving in Euclidean space with point mass dynamics and with asymmetric coupling weights. Using a coordination control scheme, we can make the group generate stable flocking motion. The control laws are a combination of attractive/repulsive and alignment forces, and the control law acting on each agent relies on the position information of all agents in the group and the velocity information of its neighbors. By using the control laws, all agent velocities become asymptotically the same, collisions are avoided between the agents, and the group final formation minimizes all agent global potentials. Moreover, we show that the velocity of the center of mass (CoM) is invariant and is equal to the final common velocity. Finally, we study the motion of the group when the velocity damping is taken into account, and prove that the common velocity asymptotically approaches zero. In this case, we can properly modify the control scheme to generate the same stable flocking. Numerical simulations are worked out to illustrate our theoretical results
Keywords :
asymptotic stability; control system analysis; mobile robots; motion control; multi-agent systems; multi-robot systems; velocity control; Euclidean space; agent avoidance collisions; agent position information; agent velocity information; alignment forces; asymmetric coupling weight; asymmetric interactions; attractive-repulsive forces; center of mass velocity; control law; mobile robots; multiple dynamic agent coordination; multiple mobile agents; point mass dynamics; stable flocking motion; system stability analysis; velocity damping; Autonomous agents; Communication system control; Control systems; Distributed control; Force control; Intelligent control; Mobile agents; Multiagent systems; Vehicle dynamics; Velocity control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Control, 2005. Proceedings of the 2005 IEEE International Symposium on, Mediterrean Conference on Control and Automation
Conference_Location :
Limassol
ISSN :
2158-9860
Print_ISBN :
0-7803-8936-0
Type :
conf
DOI :
10.1109/.2005.1467223
Filename :
1467223
Link To Document :
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