NDLI: Pursuit Formation of Double-Integrator Dynamics Using Consensus Control Approach

Content Provider	IEEE Xplore Digital Library
Author	Rezaee, H. Abdollahi, F.
Copyright Year	1982
Abstract	This paper deals with cyclic pursuit of double-integrator multiagent systems (MASs) in regular polygon formations. In kinematics level, based on a leaderless architecture, each agent pursues another one in a regular polygon formation with cyclic pursuit around a centroid. Then, in dynamics level, the agents reach consensus on a centroid around which they pursue each other. Despite introduced cyclic pursuit approaches in the literature based on agents with kinematic models and constant forward speeds, the proposed approach is based on agents with double-integrator dynamics without speed constraints. Moreover, based on the proposed approach, it is feasible to control the cyclic pursuit angular velocity. Numerical simulations for a MAS including seven agents confirm the usefulness of the proposed formation control strategy.
Sponsorship	IEEE Industrial Electronics Society
Starting Page	4249
Ending Page	4256
Page Count	8
File Size	810528
File Format	PDF
ISSN	02780046
Volume Number	62
Issue Number	7
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-01-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Kinematics Eigenvalues and eigenfunctions Vectors Angular velocity Robots Autonomous agents Multi-agent systems multiagent systems Consensus cyclic pursuit decentralized control double-integrators formation multiagent systems (MASs)
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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