LPV formation control for a class of non-holonomic agents with directed and switching communication topologies

Antonio Mendez Gonzalez; Christian Hoffmann; Herbert Werner

doi:10.1109/CDC.2015.7402639

LPV formation control for a class of non-holonomic agents with directed and switching communication topologies

Antonio Mendez Gonzalez, Christian Hoffmann, Herbert Werner

Abstract

A distributed controller design is presented for a set of agents with non-holonomic dynamics that communicate through a directed and switching topology. The design is carried out in the framework of LPV-LFT control. The objective is to only use relative (local) information to reach formation consensus in Cartesian coordinates, while the agents move along a desired path. An analysis shows that a moving formation of agents achieve orientation consensus naturally. A novel methodology from the literature is employed to solve the problem, where feasibility of a small set of LMIs provides guarantees of stability, performance and robustness. Simulation results of a leader-follower example illustrate and confirm the applicability of the approach.

Original language	English
Title of host publication	2015 54th IEEE Conference on Decision and Control (CDC)
Number of pages	6
Publisher	IEEE
Publication date	08.02.2015
Pages	2792-2797
Article number	7402639
ISBN (Print)	978-1-4799-7884-7, 978-1-4799-7885-4
ISBN (Electronic)	978-1-4799-7886-1
DOIs	https://doi.org/10.1109/CDC.2015.7402639
Publication status	Published - 08.02.2015
Event	54th IEEE Conference on Decision and Control - Osaka International Convention Center (Grand Cube), Kita-KuOsaka, Japan Duration: 15.12.2015 → 18.12.2015 Conference number: 119391

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title = "LPV formation control for a class of non-holonomic agents with directed and switching communication topologies",

abstract = "A distributed controller design is presented for a set of agents with non-holonomic dynamics that communicate through a directed and switching topology. The design is carried out in the framework of LPV-LFT control. The objective is to only use relative (local) information to reach formation consensus in Cartesian coordinates, while the agents move along a desired path. An analysis shows that a moving formation of agents achieve orientation consensus naturally. A novel methodology from the literature is employed to solve the problem, where feasibility of a small set of LMIs provides guarantees of stability, performance and robustness. Simulation results of a leader-follower example illustrate and confirm the applicability of the approach.",

author = "Gonzalez, {Antonio Mendez} and Christian Hoffmann and Herbert Werner",

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doi = "10.1109/CDC.2015.7402639",

language = "English",

isbn = "978-1-4799-7884-7",

series = "Proceedings of the IEEE Conference on Decision and Control",

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Gonzalez, AM, Hoffmann, C & Werner, H 2015, LPV formation control for a class of non-holonomic agents with directed and switching communication topologies. in 2015 54th IEEE Conference on Decision and Control (CDC)., 7402639, Proceedings of the IEEE Conference on Decision and Control, IEEE, pp. 2792-2797, 54th IEEE Conference on Decision and Control , Kita-KuOsaka, Japan, 15.12.15. https://doi.org/10.1109/CDC.2015.7402639

LPV formation control for a class of non-holonomic agents with directed and switching communication topologies. / Gonzalez, Antonio Mendez; Hoffmann, Christian; Werner, Herbert.
2015 54th IEEE Conference on Decision and Control (CDC). IEEE, 2015. p. 2792-2797 7402639 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapters in Books/Reports/Conference Proceedings › Conference contribution › peer-review

TY - GEN

T1 - LPV formation control for a class of non-holonomic agents with directed and switching communication topologies

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AU - Werner, Herbert

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Y1 - 2015/2/8

N2 - A distributed controller design is presented for a set of agents with non-holonomic dynamics that communicate through a directed and switching topology. The design is carried out in the framework of LPV-LFT control. The objective is to only use relative (local) information to reach formation consensus in Cartesian coordinates, while the agents move along a desired path. An analysis shows that a moving formation of agents achieve orientation consensus naturally. A novel methodology from the literature is employed to solve the problem, where feasibility of a small set of LMIs provides guarantees of stability, performance and robustness. Simulation results of a leader-follower example illustrate and confirm the applicability of the approach.

AB - A distributed controller design is presented for a set of agents with non-holonomic dynamics that communicate through a directed and switching topology. The design is carried out in the framework of LPV-LFT control. The objective is to only use relative (local) information to reach formation consensus in Cartesian coordinates, while the agents move along a desired path. An analysis shows that a moving formation of agents achieve orientation consensus naturally. A novel methodology from the literature is employed to solve the problem, where feasibility of a small set of LMIs provides guarantees of stability, performance and robustness. Simulation results of a leader-follower example illustrate and confirm the applicability of the approach.

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U2 - 10.1109/CDC.2015.7402639

DO - 10.1109/CDC.2015.7402639

M3 - Conference contribution

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SN - 978-1-4799-7885-4

T3 - Proceedings of the IEEE Conference on Decision and Control

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EP - 2797

BT - 2015 54th IEEE Conference on Decision and Control (CDC)

PB - IEEE

T2 - 54th IEEE Conference on Decision and Control

Y2 - 15 December 2015 through 18 December 2015

ER -

LPV formation control for a class of non-holonomic agents with directed and switching communication topologies

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