Indirect adaptive formation control with nonlinear dynamics and parametric uncertainty
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Tarih
2013
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Ieee
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
This paper focuses on coordination of multi-agent systems with agents having holonomic nonlinear dynamics and uncertain system parameters. An indirect adaptive control scheme composed of a parameter estimator and a feedback-linearization based control law is designed based on the certainty equivalence principle. (i) Simple linear and (ii) sliding mode control structures are used in the outer control loop. The controllers successfully satisfy the objectives of formation maintenance and trajectory tracking. Simulation results for a sample two-dimensional formation are presented, demonstrating the performance of the proposed control scheme.
Açıklama
9th Asian Control Conference (ASCC) -- JUN 23-26, 2013 -- Istanbul, TURKEY
Gazi, Veysel/0000-0002-4383-9215;
Gazi, Veysel/0000-0002-4383-9215;
Anahtar Kelimeler
Parametric Uncertainty, Nonlinear Dynamics
Kaynak
2013 9Th Asian Control Conference (Ascc)
WoS Q Değeri
N/A
Scopus Q Değeri
N/A
