2015
DOI: 10.1109/tie.2014.2384479
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Pursuit Formation of Double-Integrator Dynamics Using Consensus Control Approach

Abstract: This paper deals with cyclic pursuit of doubleintegrator multiagent systems in regular polygon formations. In kinematics level, based on a leaderless architecture, each agent pursues another one in a regular polygon formation with cyclic pursuit around a centroid. Then, in dynamics level, the agents reach consensus on a centroid around which they pursue each other. Despite introduced cyclic pursuit approaches in the literature based on agents with kinematic models and constant forward speeds, the proposed appr… Show more

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Cited by 68 publications
(22 citation statements)
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“…Now, if A 1 C BKC 2 is Hurwitz stable, from the Lyapunov stability criterion, for any˛1 2 R C , there exists P > 0 such that … 1 < ˛1I n . Therefore, from Lemma 2, for each˛2 2 R C , there exist˛1, ' 1 Dˆ2 1 , ' 2 Dˆ> 2ˆ2 , and ' 3 Dˆ> 3ˆ3 such that W < ˛2I 3n , where W is defined in (20). On the other hand, by invoking Lemma 2, there exists˛2 such that if W < ˛2I 3n , the BMI (17) holds.…”
Section: Remarkmentioning
confidence: 91%
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“…Now, if A 1 C BKC 2 is Hurwitz stable, from the Lyapunov stability criterion, for any˛1 2 R C , there exists P > 0 such that … 1 < ˛1I n . Therefore, from Lemma 2, for each˛2 2 R C , there exist˛1, ' 1 Dˆ2 1 , ' 2 Dˆ> 2ˆ2 , and ' 3 Dˆ> 3ˆ3 such that W < ˛2I 3n , where W is defined in (20). On the other hand, by invoking Lemma 2, there exists˛2 such that if W < ˛2I 3n , the BMI (17) holds.…”
Section: Remarkmentioning
confidence: 91%
“…In , by employing the information of agents relative positions and velocities and considering velocity damping terms, the consensus protocol of was extended for directed networks of double‐integrator dynamics. In and , consensus protocols for formation control of double‐integrator dynamics were proposed. Second‐order consensus protocols in the presence of communication delays and switching topologies were proposed in and .…”
Section: Introductionmentioning
confidence: 99%
“…In recent years, cooperative control of multiagent systems has attracted extensive attention due to its wide applications in synchronization, formation control, flocking, and so on. In nature, birds formation maintains a V shape to reduce energy consumption during flight; ants keep a certain distance to optimize foraging efficiency . Inspired by these natural phenomena, formation control has been paid more attention and becomes a basic research topic for cooperative control of multiagent systems.…”
Section: Introductionmentioning
confidence: 99%
“…This attention is motivated by their broad applications in space and oceanic exploration, surveillance, monitoring, coverage missions, etc. Employing a team of simple and cheap agents with cooperative tasks on the one hand decreases the operation and implementation costs of using large and expensive systems; on the other hand, increases efficiency and flexibility and provides robustness and reliability in accomplishing tasks .…”
Section: Introductionmentioning
confidence: 99%
“…In this condition, the agents should reach consensus upon these quantities via an interaction protocol. Therefore, one of the challenging problems arising in MASs decentralized control is to reach consensus on certain quantities of interest that has a variety of applications in attitude alignment of space vehicles, formation control of mobile robots, data fusion in sensory networks, and so on .…”
Section: Introductionmentioning
confidence: 99%