Consensus-based rendezvous control of double integrators via binary relative positions and velocity feedback
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Abstract
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.
Journal
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- IMA Journal of Mathematical Control and Information
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IMA Journal of Mathematical Control and Information 35 (4), 1371-1389, 2018-12-18
Oxford University Press (OUP)
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Keywords
Details 詳細情報について
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- CRID
- 1050294045370000384
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- NII Article ID
- 120006551682
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- NII Book ID
- AA1069482X
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- ISSN
- 14716887
- 02650754
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- HANDLE
- 20.500.14094/90005539
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- Text Lang
- en
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- Article Type
- journal article
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- Data Source
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- IRDB
- CiNii Articles
- KAKEN