Satisficing control for multi-agent formation maneuvers

Author

Ren, Wei ; Beard, Randal W. ; Curtis, J. Willard

Author_Institution

Dept. of Electr. & Comput. Eng., Brigham Young Univ., Provo, UT, USA

Volume

3

fYear

2002

fDate

10-13 Dec. 2002

Firstpage

2433

Abstract

In this paper, robustly satisficing controls based on control Lyapunov functions are applied to multiagent formation problems. We show that under certain conditions a group of satisficing control laws chosen from the robustly satisficing set can guarantee bounded formation keeping error, finite completion time, and reasonable formation velocity as well as inverse optimality and desirable stability margins. This technique is applied to a group of nonholonomic robots in simulation as a proof of concept.

Keywords

Lyapunov methods; mobile robots; multi-agent systems; multi-robot systems; robust control; stability criteria; Lyapunov functions; bounded formation keeping error; finite completion time; inverse optimality; multiagent formation maneuvers; nonholonomic robots; reasonable formation velocity; robustly satisficing controls; simulation; stability margins; Aircraft; Control systems; Error correction; Lyapunov method; Nonlinear control systems; Orbital robotics; Robot kinematics; Robust control; Robust stability; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2002, Proceedings of the 41st IEEE Conference on

ISSN

0191-2216

Print_ISBN

0-7803-7516-5

Type

conf

DOI

10.1109/CDC.2002.1184200

Filename

1184200