In this paper a decentralized observer-controller scheme that allows to control the centroid and the formation of multi-agent systems is presented. For each agent, the observer part allows to estimate the state of the overall system, while the controller part is able to calculate the input control for the given agent based on the estimated state of the system. The stability analysis is carried out in the presence of input saturation and undirected/directed topologies. Numerical simulations confirm the validity of the proposed approach.

A decentralized observer-controller scheme for centroid and formation control with bounded control input

ANTONELLI, Gianluca;ARRICHIELLO, Filippo;A. Marino
2012

Abstract

In this paper a decentralized observer-controller scheme that allows to control the centroid and the formation of multi-agent systems is presented. For each agent, the observer part allows to estimate the state of the overall system, while the controller part is able to calculate the input control for the given agent based on the estimated state of the system. The stability analysis is carried out in the presence of input saturation and undirected/directed topologies. Numerical simulations confirm the validity of the proposed approach.
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11580/20907
 Attenzione

Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo

Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 7
social impact