Consensus-based rendezvous control of double integrators via binary relative positions and velocity feedback

• 増淵, 泉

• Sakaguchi, Shohei

抄録

This article considers the consensus problem for a network of agents that have double integrator dynamics. A protocol is proposed to achieve a consensus-based rendezvous of agents that depends only on the sign of the relative positions and the sign of the individual velocity. The problem is formulated in terms of differential inclusions with Filippov solutions. A detailed analysis of the Filippov set-valued map of the vector field of the closed-loop system is provided, based on which the proposed protocol is proven to attain the consensus of the agent positions with double integrator dynamics. To prove the convergence, the invariant set of the trajectories of agents is investigated based on a generalized theory of the invariance principle. Numerical examples are provided to illustrate the convergence of the agents via the proposed protocol.

収録刊行物

• IMA Journal of Mathematical Control and Information

  IMA Journal of Mathematical Control and Information 35 (4), 1371-1389, 2018-12-18

  Oxford University Press (OUP)

キーワード

• consensus control
• discontinuous dynamical systems
• Filippov solutions
• stability
• invariance principle

詳細情報

• CRID: 1050294045370000384
• NII論文ID: 120006551682
• NII書誌ID: AA1069482X
• ISSN: 14716887
• ISSN: 02650754
• HANDLE: 20.500.14094/90005539
• 本文言語コード: en
• 資料種別: journal article
• データソース種別:
  • IRDB
  • CiNii Articles
  • KAKEN