Title :
Swarm tracking control for flocking of a multi-agent system
Author :
Joelianto, Endra ; Sagala, Adrian
Author_Institution :
Instrum. & Control Res. Group, Bandung Inst. of Technol., Bandung, Indonesia
Abstract :
The paper presents swarm tracking control for flocking of multi-agent autonomous helicopter models. The flocking is defined for a triangular shape without a leader and implemented by using swarm tracking concept. The flocking control design consists of two controllers, i.e. the swarm controller that generates a swarm center and the tracking controller that tracks the swarm center. The tracking controller for each agent is designed by using the standard linear quadratic method. The weighting matrices in the performance quadratic index, the proportional-derivative (PD) controller and the parameters of the swarm model determine the transient performances of the flocking formation.
Keywords :
PD control; aircraft control; autonomous aerial vehicles; control system synthesis; helicopters; linear quadratic control; matrix algebra; multi-agent systems; multi-robot systems; performance index; tracking; PD controller; UAV; multiagent autonomous helicopter model flocking control design; performance quadratic index; proportional-derivative controller; standard linear quadratic method; swarm center generation; swarm center tracking; swarm tracking controller design; transient performances; triangular shape; unmanned aerial vehicle; weighting matrices; Manuals; Xenon; Unmanned Aerial Vehicle (UAV); flocking; formation control; linear quadratic optimal control; small-scale helicopter; swarm tracking;
Conference_Titel :
Control, Systems & Industrial Informatics (ICCSII), 2012 IEEE Conference on
Conference_Location :
Bandung
Print_ISBN :
978-1-4673-1022-2
DOI :
10.1109/CCSII.2012.6470477
