Title :
Position feedback pinning control for nonlinear multi-agent systems
Author :
Ming-Can Fan ; Zhiyong Chen ; Hai-Tao Zhang
Author_Institution :
Dept. of Control Sci. & Eng., Huazhong Univ. of Sci. & Technol., Wuhan, China
Abstract :
This paper addresses a velocity consensus control problem for multi-agent systems in a complicated scenario where the agent velocities are not measurable and the agent dynamics are intrinsically nonlinear. It is proved that the proposed position feedback controller with sufficiently large but explicitly designed gains is able to deal with system nonlinearities when the region of attraction is semi-globally specified. The results are also verified in numerical simulation.
Keywords :
feedback; multi-robot systems; nonlinear control systems; numerical analysis; position control; velocity control; nonlinear multiagent systems; numerical simulation; position feedback pinning control; velocity consensus control; Heuristic algorithms; Multi-agent systems; Network topology; Nonlinear dynamical systems; Trajectory; Velocity measurement; Consensus; Cooperative control; Nonlinear systems; Output feedback;
Conference_Titel :
Control Conference (ASCC), 2013 9th Asian
Conference_Location :
Istanbul
Print_ISBN :
978-1-4673-5767-8
DOI :
10.1109/ASCC.2013.6606074
