Volume 4, Issue 4 (Journal of Control, V.4, N.4 Winter 2011)                   JoC 2011, 4(4): 1-13 | Back to browse issues page

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Abstract:   (10642 Views)
A class of collective behaviors is considered. Utilizing inverse jacobian method, a well known technique in redundant manipulators context, centralized controllers is synthesized for a multi-agent network to track desired paths in task space. These centralized controllers are dependent on global variables known as coordination variables. These global variables could be estimated by all the agents using some appropriate dynamic consensus protocols based upon local information which is available to each agent. The consensus protocols make the centralized controllers to be distributed over any interaction topology. Some sufficient conditions are identified to guarantee stability of the interconnection between the centralized controllers and the dynamic consensus estimators. An illustrative example is provided for formation control of a group of mobile agents using some inertial moments of the group.
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Type of Article: Research paper | Subject: Special
Received: 2014/06/17 | Accepted: 2014/06/17 | Published: 2014/06/17

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