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UID:0-500@aerospace.technion.ac.il

DTSTART;TZID=Asia/Jerusalem:20160321T163000

DTEND;TZID=Asia/Jerusalem:20160321T173000

DTSTAMP:20230603T192302Z

URL:https://aerospace.technion.ac.il/events/distance-constrained-formation
 -tracking-control-of-multi-agents-systems/

SUMMARY:Distance-Constrained Formation Tracking Control of Multi-agents Sys
 tems
DESCRIPTION:Lecturer:Oshri Rozenheck\n Faculty:Technion Autonomous Systems 
 Program\n Institute:Technion – Israel Institute of Technology\n Location
 :Classroom 165\, ground floor\, Library\, Aerospace Eng.\n Zoom: \n Abstra
 ct: \n Details: \n In recent years\, there has been an increasing number o
 f contributions dealing with the control of multiple agent formations. Of 
 the many control strategies for formation control\, distance-constrained f
 ormation control aims at maintaining inter-agent distances and utilizes re
 lative measurements (i.e.\, distances and relative-positions) to generate 
 the control action. In this work\, we consider a collection of agents task
 ed with maintaining a distance constrained formation\, where one agent in 
 the ensemble is also designated as a leader and is subjected to an externa
 l velocity reference command.\nThe controller can act as the velocity inpu
 t or the acceleration input depending on the mathematical model. We begin 
 with a simple single integrator model without velocity reference by derivi
 ng the formation error dynamics and showing stability. By adding a velocit
 y reference command to the leader and in the absence of any additional con
 trol action\, the standard rigidity based formation stabilization solution
 s will exhibit a steady state formation error. As we try to address this p
 roblem we also reveal more interesting relations between the upper bound o
 f the steady state error and the graph properties. Our approach is to comb
 ine gradient based formation controller with a proportional and integral (
 PI) control to eliminate this steady-state error. We show that such a sche
 me preserves the stability properties of the formation error dynamics as w
 ell as properties of the networked system’s centroid. We then explore th
 e properties of double integrator model and show that using rigidity based
  formation controller only is not enough to ensure stability. By adding a 
 velocity-based decentralized control we were able to reach velocity consen
 sus and assure formation stability. As we want the system to also follow a
 n external reference velocity\, a simple inner-loop controller is implemen
 ted on the leader to ensure velocity tracking. Numerical simulations are s
 hown to illustrate the theoretical results.
CATEGORIES:Seminars
LOCATION:Classroom 165\, ground floor\, Library\, Aerospace Eng.

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DTSTART:20151025T010000

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