TY - GEN
T1 - Generalized cyclic pursuit
T2 - 28th Mediterranean Conference on Control and Automation, MED 2020
AU - Ansart, Antoine
AU - Juang, Jyh Ching
N1 - Funding Information:
ACKNOWLEDGEMENTS The research is supported by the Ministry of Science and Technology (MOST), Taiwan, under grant MOST 107-2218-E-006-059.
Publisher Copyright:
© 2020 IEEE.
PY - 2020/9
Y1 - 2020/9
N2 - The paper proposes an estimation and control method about sustaining the motion of a group of autonomous agents under the Generalized Cyclic Pursuit (GCP) laws, where formation patterns can be formed by assigning eigenvalues of the system to be marginally stable. In the present paper, a Linear Quadratic Estimator (LQE), used to estimate the absolute position based on information exchange, is coupled with a Model Reference Adaptive Control (MRAC) to sustain the motion of agents and thus maintain the desired patterns in the presence of uncertainties and noise. Simulation results are provided to verify the proposed approach in area coverage applications.
AB - The paper proposes an estimation and control method about sustaining the motion of a group of autonomous agents under the Generalized Cyclic Pursuit (GCP) laws, where formation patterns can be formed by assigning eigenvalues of the system to be marginally stable. In the present paper, a Linear Quadratic Estimator (LQE), used to estimate the absolute position based on information exchange, is coupled with a Model Reference Adaptive Control (MRAC) to sustain the motion of agents and thus maintain the desired patterns in the presence of uncertainties and noise. Simulation results are provided to verify the proposed approach in area coverage applications.
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U2 - 10.1109/MED48518.2020.9183218
DO - 10.1109/MED48518.2020.9183218
M3 - Conference contribution
AN - SCOPUS:85092130257
T3 - 2020 28th Mediterranean Conference on Control and Automation, MED 2020
SP - 598
EP - 604
BT - 2020 28th Mediterranean Conference on Control and Automation, MED 2020
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 15 September 2020 through 18 September 2020
ER -