Formation control and coordinated tracking via asymptotic decoupling for Lagrangian multi-agent systems

DOI10.1016/j.automatica.2011.08.030zbMath1228.93012OpenAlexW2040454882MaRDI QIDQ646413

Dušan M. Stipanović, Juan S. Mejía, Mark W. Spong, Silvia Mastellone

Publication date: 17 November 2011

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2011.08.030

zbMATH Keywords

singular perturbationproximitymulti-agent systemscollision avoidanceformation controlstability of nonlinear systems

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Time-scale analysis and singular perturbations in control/observation systems (93C70) Decentralized systems (93A14)

Related Items (12)

Formation of multiple groups of mobile robots: multi-timescale convergence perspective ⋮ Adaptive formation control of networked Lagrangian systems with a moving leader ⋮ Adaptive backstepping control for multiple Euler-Lagrangian systems with independent dynamic communication ⋮ Robust cooperative control for multi-agent systems via distributed output regulation ⋮ Multi-objective region reaching control for a swarm of robots ⋮ Novel potential-function-based control scheme for non-holonomic multi-agent systems to prevent the local minimum problem ⋮ Avoiding the local-minimum problem in multi-agent systems with limited sensing and communication ⋮ Robust synchronisation tracking control of networked Euler–Lagrange systems using reference trajectory estimation based on virtual double-integrators ⋮ Signal generator based finite-time formation control for disturbed heterogeneous multi-agent systems ⋮ Distributed output regulation for multi-agent systems with norm-bounded uncertainties ⋮ On the compression of locational and environmental data in multi-vehicle missions: a control systems approach ⋮ Distributed robust control for synchronised tracking of networked Euler–Lagrange systems

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• ISS properties of nonholonomic vehicles
• A singular perturbation analysis of high-gain feedback systems
• String stability of interconnected systems

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