Formation control using binary information
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Publication:2409418
Abstract: In this paper, we study the problem of formation keeping of a network of strictly passive systems when very coarse information is exchanged. We assume that neighboring agents only know whether their relative position is larger or smaller than the prescribed one. This assumption results in very simple control laws that direct the agents closer or away from each other and take values in finite sets. We show that the task of formation keeping while tracking a desired trajectory and rejecting matched disturbances is still achievable under the very coarse information scenario. In contrast with other results of practical convergence with coarse or quantized information, here the control task is achieved exactly.
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Cited in
(12)- Consensus dynamics with arbitrary sign-preserving nonlinearities
- Decentralized cooperative tracking subject to motion constraints
- Nearest neighbor control for practical stabilization of passive nonlinear systems
- Observer-based output consensus of a class of heterogeneous multi-agent systems with unmatched disturbances
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