摘要
Affine formation control has been proved to be an effective tool in altering formation shapes for multiple robots to adapt to the change of working space. This paper studies the problem of optimal affine formation control based on LQR performance index. By taking both the internal potential and the control efforts of all agents into consideration, the control gain is uniquely determined under which the cost function is minimized. It is shown that the control gain is dependent on the agents' initial states as well as their connection relationship. Numerical simulations are presented to validate the theoretical results.
源语言 | 英语 |
---|---|
主期刊名 | 2020 IEEE 16th International Conference on Control and Automation, ICCA 2020 |
出版商 | IEEE Computer Society |
页 | 1440-1445 |
页数 | 6 |
ISBN(电子版) | 9781728190938 |
DOI | |
出版状态 | 已出版 - 9 10月 2020 |
活动 | 16th IEEE International Conference on Control and Automation, ICCA 2020 - Virtual, Sapporo, Hokkaido, 日本 期限: 9 10月 2020 → 11 10月 2020 |
出版系列
姓名 | IEEE International Conference on Control and Automation, ICCA |
---|---|
卷 | 2020-October |
ISSN(印刷版) | 1948-3449 |
ISSN(电子版) | 1948-3457 |
会议
会议 | 16th IEEE International Conference on Control and Automation, ICCA 2020 |
---|---|
国家/地区 | 日本 |
市 | Virtual, Sapporo, Hokkaido |
时期 | 9/10/20 → 11/10/20 |
指纹
探究 'LQR-based affine formation control for multi-agent systems' 的科研主题。它们共同构成独一无二的指纹。引用此
Song, C., Fang, H., Yang, Q., & Wei, Y. (2020). LQR-based affine formation control for multi-agent systems. 在 2020 IEEE 16th International Conference on Control and Automation, ICCA 2020 (页码 1440-1445). 文章 9264384 (IEEE International Conference on Control and Automation, ICCA; 卷 2020-October). IEEE Computer Society. https://doi.org/10.1109/ICCA51439.2020.9264384