Confinement control of double integrators using partially periodic leader trajectories

Karthik Elamvazhuthi, Sean Wilson, Spring Berman

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish (US)
Title of host publication2016 American Control Conference, ACC 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5537-5544
Number of pages8
Volume2016-July
ISBN (Electronic)9781467386821
DOIs
StatePublished - Jul 28 2016
Event2016 American Control Conference, ACC 2016 - Boston, United States
Duration: Jul 6 2016Jul 8 2016

Other

Other2016 American Control Conference, ACC 2016
CountryUnited States
CityBoston
Period7/6/167/8/16

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Elamvazhuthi, K., Wilson, S., & Berman, S. (2016). Confinement control of double integrators using partially periodic leader trajectories. In 2016 American Control Conference, ACC 2016 (Vol. 2016-July, pp. 5537-5544). [7526538] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ACC.2016.7526538