Abstract
We consider a multi-agent confinement control problem in which a single leader has a purely repulsive effect on follower agents with double-integrator dynamics. By decomposing the leader's control inputs into periodic and aperiodic components, we show that the leader can be driven so as to guarantee confinement of the followers about a time-dependent trajectory in the plane. We use tools from averaging theory and an input-to-state stability type argument to derive conditions on the model parameters that guarantee confinement of the followers about the trajectory. For the case of a single follower, we show that if the follower starts at the origin, then the error in trajectory tracking can be made arbitrarily small depending on the frequency of the periodic control components and the rate of change of the trajectory. We validate our approach using simulations and experiments with a small mobile robot.
Original language | English (US) |
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Title of host publication | 2016 American Control Conference, ACC 2016 |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 5537-5544 |
Number of pages | 8 |
Volume | 2016-July |
ISBN (Electronic) | 9781467386821 |
DOIs | |
State | Published - Jul 28 2016 |
Event | 2016 American Control Conference, ACC 2016 - Boston, United States Duration: Jul 6 2016 → Jul 8 2016 |
Other
Other | 2016 American Control Conference, ACC 2016 |
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Country | United States |
City | Boston |
Period | 7/6/16 → 7/8/16 |
ASJC Scopus subject areas
- Electrical and Electronic Engineering