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• W2508225207 abstract "We study derivation of distributed control laws for the cohesive motion problem of multi-agent systems. In the literature, stability analysis of the established control laws for this objective are heavily dependent on the number of the agents and are left incomplete. We convert the original problem setup to an equivalent linear state regulation problem. We define the inter-agent relative position variables as system states and derive a linear system dynamics. State regulation of the system corresponds to solving the cohesive motion objective. Further, we design a distributed control law to regulate the system states, which eventually corresponds to an easy-to-implement, proportional control law for each agent. Finally, we derive a sufficient condition on the agent speed bounds for distance maintenance in minimally persistent formations." @default.
• W2508225207 created "2016-09-16" @default.
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• W2508225207 date "2016-06-01" @default.
• W2508225207 modified "2023-09-26" @default.
• W2508225207 title "Cohesive motion control as a regulation problem" @default.
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• W2508225207 doi "https://doi.org/10.1109/med.2016.7535997" @default.
• W2508225207 hasPublicationYear "2016" @default.
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