期刊
SYSTEMS & CONTROL LETTERS
卷 59, 期 11, 页码 704-712出版社
ELSEVIER
DOI: 10.1016/j.sysconle.2010.08.006
关键词
Multiagent systems; Cooperative control; Surrounding control; Decentralized estimation; Laplacian matrix
资金
- National Science Foundation [ECCS-1002393]
- Directorate For Engineering [1213295] Funding Source: National Science Foundation
- Directorate For Engineering
- Div Of Electrical, Commun & Cyber Sys [1002393] Funding Source: National Science Foundation
- Div Of Electrical, Commun & Cyber Sys [1213295] Funding Source: National Science Foundation
In this paper, two surrounding control problems are proposed, where a team of followers is used to surround a team of leaders. The problems are solved under a decentralized estimation-and-control framework. Using tools from algebraic graph theory and dynamical systems theory, it is shown that the two teams, involving a team of leaders and a team of followers, preserve. some desired convergence properties, even if the geometric center of the leaders can only be obtained from estimators. A simulation example is presented to verify the validity of the derived results. (C) 2010 Elsevier B.V. All rights reserved.
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