<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>An output-feedback decentralised formation control strategy is pursued under pole-region constraints, assuming that the agents have access to relative position measurements with respect to a set of neighbors in a graph describing the sensing topology. No communication between the agents is assumed; however, a shared one-way communication channel with a pilot is needed for steering tasks. Each agent has a separate copy of the same controller. A virtual structure approach is presented for the formation steering as a whole; actual formation control is established via cone-complementarity linearization algorithms for the appropriate matrix inequalities. In contrast to other research where only stable consensus is pursued, the proposed method allows us to specify settling-time, damping and bandwidth limitations via pole regions. In addition, a full methodology for the decoupled handling of steering and formation control is provided. Simulation results in the example section illustrate the approach.</p>
</abstract>

An output-feedback decentralised formation control strategy is pursued under pole-region constraints, assuming that the agents have access to relative position measurements with respect to a set of neighbors in a graph describing the sensing topology. No communication between the agents is assumed; however, a shared one-way communication channel with a pilot is needed for steering tasks. Each agent has a separate copy of the same controller. A virtual structure approach is presented for the formation steering as a whole; actual formation control is established via cone-complementarity linearization algorithms for the appropriate matrix inequalities. In contrast to other research where only stable consensus is pursued, the proposed method allows us to specify settling-time, damping and bandwidth limitations via pole regions. In addition, a full methodology for the decoupled handling of steering and formation control is provided. Simulation results in the example section illustrate the approach.

Decentralized Multi–Agent Formation Control with Pole–Region Placement via Cone–Complementarity Linearization

International Journal of Applied Mathematics and Computer Science

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

An output-feedback decentralised formation control strategy is pursued under pole-region constraints, assuming that the agents have access to relative position...

Decentralized Multi–Agent Formation Control with Pole–Region Placement via Cone–Complementarity Linearization

Publicado en línea: 08 oct 2022

Páginas: 415 - 428

Recibido: 04 feb 2022

Aceptado: 06 abr 2022

DOI: https://doi.org/10.34768/amcs-2022-0030

Palabras clave
multi-agent autonomous system, formation control, decoupling, linear matrix inequalities, cone-complementarity linearization

© 2022 Antonio González et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Decentralized Multi–Agent Formation Control with Pole–Region Placement via Cone–Complementarity Linearization

Publicado en línea: 08 oct 2022

Páginas: 415 - 428

Recibido: 04 feb 2022

Aceptado: 06 abr 2022

DOI: https://doi.org/10.34768/amcs-2022-0030

Palabras clavemulti-agent autonomous system, formation control, decoupling, linear matrix inequalities, cone-complementarity linearization

© 2022 Antonio González et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Palabras clave
multi-agent autonomous system, formation control, decoupling, linear matrix inequalities, cone-complementarity linearization