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Connectivity maintenance and distributed tracking for double‐integrator agents with bounded potential functions
Author(s) -
Wang Lin,
Wang Xiaofan,
Hu Xiaoming
Publication year - 2013
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.3105
Subject(s) - acceleration , bounded function , control theory (sociology) , double integrator , lipschitz continuity , position (finance) , constant (computer programming) , computer science , tracking (education) , function (biology) , set (abstract data type) , mathematics , multi agent system , control (management) , mathematical analysis , physics , classical mechanics , artificial intelligence , psychology , pedagogy , finance , evolutionary biology , economics , biology , programming language
Summary In this paper, we develop a set of decentralized control laws with bounded potential functions. The basic control law is a combination of attractive, repulsive, and alignment forces, which can keep connectivity, avoid collision, synchronize all agents, and further track a constant moving leader. Furthermore, we investigate the distributed tracking problem with a varying‐velocity leader, where the acceleration of the leader can not be measured. Two cases are considered; the acceleration of the leader is bounded, and the acceleration function satisfies Lipschitz condition. In the first case, the relative velocities of neighbors are integrated and transmitted as a new variable to account for the uncertain time‐varying acceleration. In the second case, two distributed estimators are added for the leader's position and velocity. Finally, some simulations are presented to show the effectiveness of the proposed algorithms. Copyright © 2013 John Wiley & Sons, Ltd.