A Control Methodology for Autonomous Multi-Agent System in Collective and Uniform Distribution and Reorientation

Abstract:

This paper proposes a decentralized control law of NlCyP&BG for a team of autonomous agents, which aims at achieving collective and uniform distribution around an appointed destination. A technique by virtual of coordinate constraints is described for eigenvalues derivation and contribution analysis, so that conditions for local asymptotical stability of n-agent system is deduced. Simulation work on a two-agent case and an extended four-agent case are displayed to prove the validity of stability conclusion, and at the same time the effectiveness of control law in accomplishing expected distribution and reorientation is verified exactly.

• Periodical: Applied Mechanics and Materials (Volume 392)
• Pages: 366-373
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.392.366
• Online since: September 2013
• Authors: Tao Yang, Yong Jun Jia, Li Bo Yang
• Keywords: Beacon's Guidance (BG), Collective, Cyclic Pursuit, Local Asymptotical Stability, Multi-Agent System (MAS), Nonlinear Cyclic Pursuit (NlCyP), Reorientation, Uniform Distribution

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