A design of hybrid feedback stabilization on 1D coverage with topological perspectives

Yuliy Baryshnikov, Cheng Chen, Han Wang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we study the topology of the space of coverings for a 1 dimensional coverage problem. In the sense of full coverage with excess one agent, the topological structure of the space of coverings is described by the skeleton of permutahedron. Based on its topological structure, we design a periodic trajectory which satisfies natural performance requirements and a two-level hybrid hierarchical control on the multi-agent system. Then we compare the hybrid hierarchical control to a usual centralized control through a numerical example and simulations.

Original languageEnglish (US)
Title of host publication2016 American Control Conference, ACC 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5154-5160
Number of pages7
ISBN (Electronic)9781467386821
DOIs
StatePublished - Jul 28 2016
Event2016 American Control Conference, ACC 2016 - Boston, United States
Duration: Jul 6 2016Jul 8 2016

Publication series

NameProceedings of the American Control Conference
Volume2016-July
ISSN (Print)0743-1619

Other

Other2016 American Control Conference, ACC 2016
CountryUnited States
CityBoston
Period7/6/167/8/16

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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    Baryshnikov, Y., Chen, C., & Wang, H. (2016). A design of hybrid feedback stabilization on 1D coverage with topological perspectives. In 2016 American Control Conference, ACC 2016 (pp. 5154-5160). [7526477] (Proceedings of the American Control Conference; Vol. 2016-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ACC.2016.7526477