Formation control and coordinated tracking via asymptotic decoupling for Lagrangian multi-agent systems

DOI10.1016/J.AUTOMATICA.2011.08.030MaRDI QIDQ646413zbMATH OpenOpenAlexFDO

Authors Silvia Mastellone, Juan S. Mejía, Dušan M. Stipanović, Mark W. Spong

Publication date 17 November 2011

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.automatica.2011.08.030

zbMATH Keywords

formation controlmulti-agent systemssingular perturbationcollision avoidanceproximitystability of nonlinear systems

Mathematics Subject Classification ID

Decentralized systems (93A14) Nonlinear systems in control theory (93C10) Time-scale analysis and singular perturbations in control/observation systems (93C70) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05)

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Cites work

• scientific article; zbMATH DE number 4017400 (Why is no real title available?)
• scientific article; zbMATH DE number 3594998 (Why is no real title available?)
• A singular perturbation analysis of high-gain feedback systems
• Avoidance control
• Distributed receding horizon control for multi-vehicle formation stabilization
• Guaranteed avoidance strategies
• ISS properties of nonholonomic vehicles
• Integral manifolds of singularly perturbed systems with application to rigid-link flexible-joint multibody systems
• String stability of interconnected systems

Cited in

(16)

• Adaptive backstepping control for multiple Euler-Lagrangian systems with independent dynamic communication
• Robust synchronisation tracking control of networked Euler-Lagrange systems using reference trajectory estimation based on virtual double-integrators
• Novel potential-function-based control scheme for non-holonomic multi-agent systems to prevent the local minimum problem
• Avoiding the local-minimum problem in multi-agent systems with limited sensing and communication
• Formation tracking control for multiple rigid bodies on matrix Lie groups: A system decomposition approach
• Observer-based formation tracking control for feedforward nonlinear multi-agent systems with dead-zone input
• Distributed output regulation for multi-agent systems with norm-bounded uncertainties
• Distributed robust control for synchronised tracking of networked Euler-Lagrange systems
• Robust cooperative control for multi-agent systems via distributed output regulation
• Formation of multiple groups of mobile robots: multi-timescale convergence perspective
• Formation Potential Field for Trajectory Tracking Control of Multi-Agents in Constrained Space
• Signal generator based finite-time formation control for disturbed heterogeneous multi-agent systems
• Multi-objective region reaching control for a swarm of robots
• Formation tracking for nonlinear multi-agent systems with delays and noise disturbance
• On the compression of locational and environmental data in multi-vehicle missions: a control systems approach
• Adaptive formation control of networked Lagrangian systems with a moving leader

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