Integral Sliding Control Approach for Generalized Cyclic Pursuit Formation Maintenance

Electronics

Jyh-Ching Juang¹  Antoine Ansart¹ 

[1] Department of Electrical Engineering, National Cheng Kung University, Tainan 701, Taiwan;

关键词: control theory;    cyclic pursuit;    dynamic gain;    formation control;    marginal system;    multi-agent systems;   

DOI  :  10.3390/electronics10101217

来源: DOAJ

【 摘 要 】

This paper is concerned with the formation maintenance of a group of autonomous agents under generalized cyclic pursuit (GCP) law. The described pattern for agents under such formation is epicycle-like. For a network of agents to achieve such a formation, marginal stability of the overall network is required. The desired marginal stability of the network relies on each agents’ gain values, and uncertainties in these gains can occur. Previous studies have used fixed gains, we enhance the stability of the gains via a dynamic approach using an integral sliding controller (ISC). An ISC can ensure sliding behavior of the gains throughout the entire response, and it is shown that the gains are robust toward variations and thus make the network keep its marginal stability and its formation.

【 授权许可】

Unknown