Decentralized multi-agent formation control with pole-region placement via cone-complementarity linearization

González, Antonio  ; Sala, Antonio ; Armesto, Leopoldo

International Journal of Applied Mathematics and Computer Science, Tome 32 (2022) no. 3, pp. 415-428.

Résumé

An output-feedback decentralised formation control strategy is pursued under pole-region constraints, assuming that the agents have access to relative position measurements with respect to a set of neighbors in a graph describing the sensing topology. No communication between the agents is assumed; however, a shared one-way communication channel with a pilot is needed for steering tasks. Each agent has a separate copy of the same controller. A virtual structure approach is presented for the formation steering as a whole; actual formation control is established via cone-complementarity linearization algorithms for the appropriate matrix inequalities. In contrast to other research where only stable consensus is pursued, the proposed method allows us to specify settling-time, damping and bandwidth limitations via pole regions. In addition, a full methodology for the decoupled handling of steering and formation control is provided. Simulation results in the example section illustrate the approach.

Détail

Keywords: multiagent autonomous system, formation control, linear matrix inequalities, cone complementarity linearization
Mots-clés : system wieloagentowy, sterowanie formacją, liniowe nierówności macierzowe

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