Publicación: Distributed targeted distance-based formation control for mechanical systems
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2020-07-20
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info:eu-repo/semantics/openAccess
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IEEE Xplore
Resumen
This paper studies the problem of distributed targeted distance-based formation control for mechanical systems. The problem consists on finding a distributed control law such that if each agent observes a convex set as a targeted set, and also the relative position of their nearest neighbors, then the agents must achieve the desired formation in these sets while its velocities are driven to zero. We study the problem for agents with a time-delay communication in the measurements of the relative positions and where the motion of each agent is determined by a Lagrangian function. Simulation are given to validate the theoretical result.
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Categorías UNESCO
Palabras clave
position measurement, control systems, mechanical systems, lagrangian functions, dynamics, time measurement, delay effects
Citación
E. Aranda-Escolástico, L. J. Colombo and M. Guinaldo, "Distributed targeted distance-based formation control for mechanical systems," 2020 European Control Conference (ECC), St. Petersburg, Russia, 2020, pp. 172-177, doi: 10.23919/ECC51009.2020.9143936.
Centro
E.T.S. de Ingeniería Informática
Departamento
Ingeniería de Software y Sistemas Informáticos