Abstract
In this paper, we implement a switched decentralized controller, along with a proposed communication protocol, to control a nested multi-agent system without the need for a centralized processing node. More specifically, we apply a recently developed method for switched systems synthesis, which gives exact conditions for existence of a block-lower triangular path-dependent controller with l2-induced norm performance. The synthesis conditions are given in the form of a semidefinite program (SDP), which is computed offline for a predefined switching sequence. Each robot is equipped with a ultra-wideband (UWB) unit, which allows it to both estimate its position and communicate with other robots.
Original language | English (US) |
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Pages (from-to) | 7418-7423 |
Number of pages | 6 |
Journal | IFAC-PapersOnLine |
Volume | 53 |
Issue number | 2 |
DOIs | |
State | Published - 2020 |
Event | 21st IFAC World Congress 2020 - Berlin, Germany Duration: Jul 12 2020 → Jul 17 2020 |
Keywords
- Control of switched systems
- Decentralized control
- Flying robots
- Multi-vehicle systems
- Networked robotic systems
- Robust control applications
ASJC Scopus subject areas
- Control and Systems Engineering