TY - JOUR
T1 - Integral sliding control approach for generalized cyclic pursuit formation maintenance
AU - Ansart, Antoine
AU - Juang, Jyh Ching
N1 - Funding Information:
Funding: The research is supported by the Ministry of Science and Technology (MOST), Taiwan, under grant MOST 109-2218-E-006-032.
Publisher Copyright:
© 2021 by the authors. Licensee MDPI, Basel, Switzerland.
PY - 2021/5/2
Y1 - 2021/5/2
N2 - This paper is concerned with the formation maintenance of a group of autonomous agents under generalized cyclic pursuit (GCP) law. The described pattern for agents under such formation is epicycle-like. For a network of agents to achieve such a formation, marginal stability of the overall network is required. The desired marginal stability of the network relies on each agents’ gain values, and uncertainties in these gains can occur. Previous studies have used fixed gains, we enhance the stability of the gains via a dynamic approach using an integral sliding controller (ISC). An ISC can ensure sliding behavior of the gains throughout the entire response, and it is shown that the gains are robust toward variations and thus make the network keep its marginal stability and its formation.
AB - This paper is concerned with the formation maintenance of a group of autonomous agents under generalized cyclic pursuit (GCP) law. The described pattern for agents under such formation is epicycle-like. For a network of agents to achieve such a formation, marginal stability of the overall network is required. The desired marginal stability of the network relies on each agents’ gain values, and uncertainties in these gains can occur. Previous studies have used fixed gains, we enhance the stability of the gains via a dynamic approach using an integral sliding controller (ISC). An ISC can ensure sliding behavior of the gains throughout the entire response, and it is shown that the gains are robust toward variations and thus make the network keep its marginal stability and its formation.
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U2 - 10.3390/electronics10101217
DO - 10.3390/electronics10101217
M3 - Article
AN - SCOPUS:85106162610
SN - 2079-9292
VL - 10
JO - Electronics (Switzerland)
JF - Electronics (Switzerland)
IS - 10
M1 - 1217
ER -