Title :
Adaptive internal model based formation control of a class of multi-agent systems
Author :
Gul, E. ; Gazi, V.
Author_Institution :
Dept. of Electr. & Electron. Eng., TOBB Univ. of Econ. & Technol., Ankara, Turkey
fDate :
June 30 2010-July 2 2010
Abstract :
In this article we consider the problem of moving in a predefined formation along a reference trajectory in the presence of disturbances in a class of multi-agent systems. The reference trajectory is generated by a neutrally stable exosystem with unknown parameters. The problem is formulated as nonlinear servomechanism problem and an adaptive internal model based controller is used to solve this problem. The performance of the system is verified with simple numerical simulations.
Keywords :
adaptive control; multi-agent systems; multi-robot systems; nonlinear control systems; position control; robot dynamics; servomechanisms; adaptive internal model; formation control; multi-agent systems; neutrally stable exosystem; nonlinear servomechanism problem; reference trajectory; Adaptive control; Frequency; Linear systems; Multiagent systems; Nonlinear dynamical systems; Nonlinear systems; Numerical simulation; Programmable control; Servomechanisms; Sliding mode control;
Conference_Titel :
American Control Conference (ACC), 2010
Conference_Location :
Baltimore, MD
Print_ISBN :
978-1-4244-7426-4
DOI :
10.1109/ACC.2010.5530889
