Cooperative control of nonlinear multi-agent systems with only relative position measurements

Jie Mei; Wei Ren; Guangfu Ma

doi:10.1109/ACC.2012.6315427

Cooperative control of nonlinear multi-agent systems with only relative position measurements

Jie Mei^*
, Wei Ren
, Guangfu Ma

^*Corresponding author for this work

School of Astronautics

Harbin Institute of Technology Shenzhen
University of California at Riverside

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Scopus citations

Abstract

In this paper, we study the distributed cooperative control of second-order multi-agent systems with intrinsic nonlinear dynamics under an undirected graph that characterizes the interaction among the followers or agents. By introducing a distributed filter for each follower or agent, the proposed control algorithms use only relative position measurements. Both the coordination tracking problem with a dynamic leader and the leaderless consensus problem are considered. In the special case when the intrinsic nonlinear dynamics are zero, i.e., for multi-agent systems with second-order integrators, we further derive results for the leaderless consensus problem under a directed graph. We present a necessary and sufficient condition such that the systems achieve consensus using only relative position measurements.

Original language	English
Title of host publication	2012 American Control Conference, ACC 2012
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	6614-6619
Number of pages	6
ISBN (Print)	9781457710957
DOIs	https://doi.org/10.1109/ACC.2012.6315427
State	Published - 2012
Event	2012 American Control Conference, ACC 2012 - Montreal, QC, Canada Duration: 27 Jun 2012 → 29 Jun 2012

Publication series

Name	Proceedings of the American Control Conference
ISSN (Print)	0743-1619

Conference

Conference	2012 American Control Conference, ACC 2012
Country/Territory	Canada
City	Montreal, QC
Period	27/06/12 → 29/06/12

Access to Document

10.1109/ACC.2012.6315427

Cite this

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title = "Cooperative control of nonlinear multi-agent systems with only relative position measurements",

abstract = "In this paper, we study the distributed cooperative control of second-order multi-agent systems with intrinsic nonlinear dynamics under an undirected graph that characterizes the interaction among the followers or agents. By introducing a distributed filter for each follower or agent, the proposed control algorithms use only relative position measurements. Both the coordination tracking problem with a dynamic leader and the leaderless consensus problem are considered. In the special case when the intrinsic nonlinear dynamics are zero, i.e., for multi-agent systems with second-order integrators, we further derive results for the leaderless consensus problem under a directed graph. We present a necessary and sufficient condition such that the systems achieve consensus using only relative position measurements.",

author = "Jie Mei and Wei Ren and Guangfu Ma",

year = "2012",

doi = "10.1109/ACC.2012.6315427",

language = "英语",

isbn = "9781457710957",

series = "Proceedings of the American Control Conference",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "6614--6619",

booktitle = "2012 American Control Conference, ACC 2012",

address = "美国",

note = "2012 American Control Conference, ACC 2012 ; Conference date: 27-06-2012 Through 29-06-2012",

}

Mei, J, Ren, W & Ma, G 2012, Cooperative control of nonlinear multi-agent systems with only relative position measurements. in 2012 American Control Conference, ACC 2012., 6315427, Proceedings of the American Control Conference, Institute of Electrical and Electronics Engineers Inc., pp. 6614-6619, 2012 American Control Conference, ACC 2012, Montreal, QC, Canada, 27/06/12. https://doi.org/10.1109/ACC.2012.6315427

Cooperative control of nonlinear multi-agent systems with only relative position measurements. / Mei, Jie; Ren, Wei; Ma, Guangfu.
2012 American Control Conference, ACC 2012. Institute of Electrical and Electronics Engineers Inc., 2012. p. 6614-6619 6315427 (Proceedings of the American Control Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Mei, Jie

AU - Ren, Wei

AU - Ma, Guangfu

PY - 2012

Y1 - 2012

N2 - In this paper, we study the distributed cooperative control of second-order multi-agent systems with intrinsic nonlinear dynamics under an undirected graph that characterizes the interaction among the followers or agents. By introducing a distributed filter for each follower or agent, the proposed control algorithms use only relative position measurements. Both the coordination tracking problem with a dynamic leader and the leaderless consensus problem are considered. In the special case when the intrinsic nonlinear dynamics are zero, i.e., for multi-agent systems with second-order integrators, we further derive results for the leaderless consensus problem under a directed graph. We present a necessary and sufficient condition such that the systems achieve consensus using only relative position measurements.

AB - In this paper, we study the distributed cooperative control of second-order multi-agent systems with intrinsic nonlinear dynamics under an undirected graph that characterizes the interaction among the followers or agents. By introducing a distributed filter for each follower or agent, the proposed control algorithms use only relative position measurements. Both the coordination tracking problem with a dynamic leader and the leaderless consensus problem are considered. In the special case when the intrinsic nonlinear dynamics are zero, i.e., for multi-agent systems with second-order integrators, we further derive results for the leaderless consensus problem under a directed graph. We present a necessary and sufficient condition such that the systems achieve consensus using only relative position measurements.

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U2 - 10.1109/ACC.2012.6315427

DO - 10.1109/ACC.2012.6315427

M3 - 会议稿件

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SN - 9781457710957

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PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2012 American Control Conference, ACC 2012

Y2 - 27 June 2012 through 29 June 2012

ER -

Cooperative control of nonlinear multi-agent systems with only relative position measurements

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