Title :
Containment control of networked Lagrange systems with group dispersion and cohesion behaviors
Author :
Meng Ziyang ; Lin Zongli ; Ren Wei
Author_Institution :
Dept. of Autom., Shanghai Jiao Tong Univ., Shanghai, China
Abstract :
In this paper, distributed containment control with group dispersion and cohesion behaviors are discussed for a group of Lagrange systems. Both the cases of constant leaders´ generalized coordinate derivatives and time-varying leaders´ generalized coordinate derivatives are considered. The proposed control algorithms are shown to obtain velocity matching, connectivity maintenance and collision avoidance. In addition, the sum of the steady-state distances between followers and the convex hull formed by the leaders is shown to be bounded and this bound is explicitly given.
Keywords :
collision avoidance; distributed control; multi-robot systems; cohesion behaviors; collision avoidance; connectivity maintenance; constant leader generalized coordinate derivatives; distributed containment control; follower-convex hull steady-state distances; group dispersion; networked Lagrange systems; time-varying leader generalized coordinate derivatives; velocity matching; Algorithm design and analysis; Dispersion; Laplace equations; Lead; Maintenance engineering; Sensors; Topology; Containment control; Group cohesion; Group dispersion; Lagrange systems;
Conference_Titel :
Control Conference (CCC), 2011 30th Chinese
Conference_Location :
Yantai
Print_ISBN :
978-1-4577-0677-6
Electronic_ISBN :
1934-1768