TY - GEN
T1 - Confinement control of double integrators using partially periodic leader trajectories
AU - Elamvazhuthi, Karthik
AU - Wilson, Sean
AU - Berman, Spring
N1 - Publisher Copyright:
© 2016 American Automatic Control Council (AACC).
PY - 2016/7/28
Y1 - 2016/7/28
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84992029440&partnerID=8YFLogxK
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U2 - 10.1109/ACC.2016.7526538
DO - 10.1109/ACC.2016.7526538
M3 - Conference contribution
AN - SCOPUS:84992029440
T3 - Proceedings of the American Control Conference
SP - 5537
EP - 5544
BT - 2016 American Control Conference, ACC 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 American Control Conference, ACC 2016
Y2 - 6 July 2016 through 8 July 2016
ER -