Journal Paper

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Journal: کنترل
Year:1389 | Volume:4 | Issue:4
Start Page:1 | End Page:13

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Title

DISTRIBUTED CONTROL OF A CLASS COLLECTIVE BEHAVIORS IN MULTI-AGENT NETWORKS

Pages

 Start Page 1 | End Page 13

Abstract

 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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