aalto1 untyped-item.component.html
Distributed Self-triggered Circular Formation Control for Multi-robot Systems
Loading...
Access rights
openAccess
acceptedVersion
URL
Journal Title
Journal ISSN
Volume Title
A4 Artikkeli konferenssijulkaisussa
This publication is imported from Aalto University research portal.
View publication in the Research portal (opens in new window)
View/Open full text file from the Research portal (opens in new window)
View publication in the Research portal (opens in new window)
View/Open full text file from the Research portal (opens in new window)
Unless otherwise stated, all rights belong to the author. You may download, display and print this publication for Your own personal use. Commercial use is prohibited.
Date
Major/Subject
Mcode
Degree programme
Language
en
Pages
7
Series
Proceedings of the 39th Chinese Control Conference, CCC 2020, pp. 4639-4645
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.
Description
Other note
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, Shanghai Systems Science Press Limited, pp. 4639-4645, Chinese Control Conference, Virtual, Online, 27/07/2020. https://doi.org/10.23919/CCC50068.2020.9188356