TY - JOUR
T1 - Three-dimensional coordinated path-following control for second-order multi-agent networks
AU - Zuo, Zongyu
AU - Cichella, Venanzio
AU - Xu, Ming
AU - Hovakimyan, Naira
N1 - Publisher Copyright:
© 2015 The Franklin Institute.
PY - 2015/9/1
Y1 - 2015/9/1
N2 - In this paper we address the problem of coordinating a group of multi-agent under directed information flow along a three-dimensional reference path with spatial but without temporal constraints. Control laws are derived that enable each vehicle involved in the cooperative mission to follow a three-dimensional (3D) spatial path while coordinating. The spatial reference path is described by an algebraic implicit expression and the path-following kinematic-error dynamics are then formulated for each agent using suitably defined spatial and speed tracking error variable. Distinct from the stabilizing feedback control design of the path-following problem for a single agent, the proposed feedback control algorithm, augmented with local disagreement terms, achieves consensus path-following. Further, the desired speed profiles assigned to the agents are employed as extra design degrees of freedom to achieve coordination, based on a chasing-and-waiting strategy. Within the proposed design framework, the multi-agent systems follow the spatial path with negotiated speed profiles and ultimately coordinate with each other.
AB - In this paper we address the problem of coordinating a group of multi-agent under directed information flow along a three-dimensional reference path with spatial but without temporal constraints. Control laws are derived that enable each vehicle involved in the cooperative mission to follow a three-dimensional (3D) spatial path while coordinating. The spatial reference path is described by an algebraic implicit expression and the path-following kinematic-error dynamics are then formulated for each agent using suitably defined spatial and speed tracking error variable. Distinct from the stabilizing feedback control design of the path-following problem for a single agent, the proposed feedback control algorithm, augmented with local disagreement terms, achieves consensus path-following. Further, the desired speed profiles assigned to the agents are employed as extra design degrees of freedom to achieve coordination, based on a chasing-and-waiting strategy. Within the proposed design framework, the multi-agent systems follow the spatial path with negotiated speed profiles and ultimately coordinate with each other.
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U2 - 10.1016/j.jfranklin.2015.01.020
DO - 10.1016/j.jfranklin.2015.01.020
M3 - Article
AN - SCOPUS:84940437506
SN - 0016-0032
VL - 352
SP - 3858
EP - 3872
JO - Journal of the Franklin Institute
JF - Journal of the Franklin Institute
IS - 9
ER -