Bono, A;
Chen, B;
D'Alfonso, L;
Fedele, G;
(2023)
Swarm Model for Path Tracking with Reference Motion Profile: a Diffeomorphism-based Approach.
In:
IFAC-PapersOnLine.
(pp. pp. 10721-10726).
Elsevier: Amsterdam, The Netherlands.
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Abstract
This paper presents a novel strategy to control a multi-agent system along a given reference path while ensuring compliance with a given time profile for the movements along the route in question. The proposed protocol is based on a three-step methodology. In a first step, each agent state is augmented with an artificial variable that defines the movement of the agents along the given path. The extended agent state is then mapped into a virtual frame that takes into account the displacement of its position with respect to the reference path and the control over the additional artificial variable. Finally, in a third step, the control law designed in the artificial frame is translated into an action in the real frame using the theory of diffeomorphisms. The proposed control strategy ensures finite-time convergence of the entire multi-agent system on the reference path, while achieving error bounding for each agent evolution with respect to a given reference motion profile. Numerical simulations are performed to illustrate the described results.
| Type: | Proceedings paper |
|---|---|
| Title: | Swarm Model for Path Tracking with Reference Motion Profile: a Diffeomorphism-based Approach |
| Event: | 22nd IFAC World Congress 2023 |
| Location: | Yokohama |
| Dates: | 9 Jul 2023 - 14 Jul 2023 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1016/j.ifacol.2023.10.730 |
| Publisher version: | https://doi.org/10.1016/j.ifacol.2023.10.730 |
| Language: | English |
| Additional information: | Copyright © 2023 The Authors. This is an open access article under the CC-BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/). |
| Keywords: | Multi-agent system; Finite-time control; Distributed path tracking; Swarm of agents; Diffeomorphism-based control |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Electronic and Electrical Eng |
| URI: | https://discovery-pp.ucl.ac.uk/id/eprint/10171455 |
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