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Distributed Self-triggered Circular Formation Control for Multi-robot Systems

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dc.contributor Aalto-yliopisto fi
dc.contributor Aalto University en
dc.contributor.author Xu, Peng
dc.contributor.author Wang, Xinyu
dc.contributor.author Tao, Jin
dc.contributor.author Xie, Guangming
dc.contributor.author Xu, Minyi
dc.contributor.author Zhou, Quan
dc.contributor.editor Fu, Jun
dc.contributor.editor Sun, Jian
dc.date.accessioned 2020-10-16T08:08:38Z
dc.date.available 2020-10-16T08:08:38Z
dc.date.issued 2020-07
dc.identifier.citation Xu , P , Wang , X , Tao , J , Xie , G , Xu , M & Zhou , Q 2020 , Distributed Self-triggered Circular Formation Control for Multi-robot Systems . in J Fu & J Sun (eds) , Proceedings of the 39th Chinese Control Conference, CCC 2020 . , 9188356 , IEEE , pp. 4639-4645 , Chinese Control Conference , Virtual, Online , 27/07/2020 . https://doi.org/10.23919/CCC50068.2020.9188356 en
dc.identifier.isbn 9789881563903
dc.identifier.other PURE UUID: 5fdf2f50-7e60-49d5-8be0-a36380c59b4e
dc.identifier.other PURE ITEMURL: https://research.aalto.fi/en/publications/5fdf2f50-7e60-49d5-8be0-a36380c59b4e
dc.identifier.other PURE LINK: http://www.scopus.com/inward/record.url?scp=85091399055&partnerID=8YFLogxK
dc.identifier.other PURE FILEURL: https://research.aalto.fi/files/52098313/ELEC_Xu_etal_Distributed_Self_triggered_Circular_CCC2020_authoracceptedmanuscript.pdf
dc.identifier.uri https://aaltodoc.aalto.fi/handle/123456789/46962
dc.description.abstract This paper investigates circular formation control problems for multi-robot systems in the plane via a distributed self-triggered strategy. In scenarios of restricted energies, a distributed self-triggered protocol is designed for controlling multiple robots to converge asymptotically to a prescribed circular orbit around a fixed target. In particular, each robot maintains any desired relative angular distances during its rotation around the target. Besides, no collision among robots is taken place, since the spatial order of robots is preserved throughout the evolution. We prove that when the event-triggered condition is enforced during the whole process, the controllers only update with superior performance. Moreover, Zeno behavior can be ruled out. Numerical simulations demonstrate the feasibility and effectiveness of the theoretical results. en
dc.format.extent 7
dc.format.extent 4639-4645
dc.format.mimetype application/pdf
dc.language.iso en en
dc.relation.ispartof Chinese Control Conference en
dc.relation.ispartofseries Proceedings of the 39th Chinese Control Conference, CCC 2020 en
dc.rights openAccess en
dc.title Distributed Self-triggered Circular Formation Control for Multi-robot Systems en
dc.type A4 Artikkeli konferenssijulkaisussa fi
dc.description.version Peer reviewed en
dc.contributor.department Dalian Maritime University
dc.contributor.department Robotic Instruments
dc.contributor.department Department of Electrical Engineering and Automation
dc.subject.keyword Circular Formation
dc.subject.keyword Directed Network
dc.subject.keyword Multi-robot Systems
dc.subject.keyword Self-triggered
dc.identifier.urn URN:NBN:fi:aalto-202010165859
dc.identifier.doi 10.23919/CCC50068.2020.9188356
dc.type.version acceptedVersion

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