TY - GEN
T1 - Generalized Cyclic Pursuit
T2 - 5th International Conference on Control and Robotics Engineering, ICCRE 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.
Funding Information:
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 - 2020/4
Y1 - 2020/4
N2 - The paper proposes a method about sustaining the motion of a group of autonomous agents under the Generalized Cyclic Pursuit (GCP) laws. Under GCP, formation patterns can be formed by assigning eigenvalues of the system to be marginally stable. Such a control, however, is sensitive to parameter variation. In the paper, Model Reference Adaptive Control (MRAC) technique is employed to sustain the motion of agents and thus maintain the desired patterns in the presence of uncertainties. Simulation results are provided to verify the proposed approach.
AB - The paper proposes a method about sustaining the motion of a group of autonomous agents under the Generalized Cyclic Pursuit (GCP) laws. Under GCP, formation patterns can be formed by assigning eigenvalues of the system to be marginally stable. Such a control, however, is sensitive to parameter variation. In the paper, Model Reference Adaptive Control (MRAC) technique is employed to sustain the motion of agents and thus maintain the desired patterns in the presence of uncertainties. Simulation results are provided to verify the proposed approach.
UR - https://www.scopus.com/pages/publications/85085963958
UR - https://www.scopus.com/pages/publications/85085963958#tab=citedBy
U2 - 10.1109/ICCRE49379.2020.9096453
DO - 10.1109/ICCRE49379.2020.9096453
M3 - Conference contribution
AN - SCOPUS:85085963958
T3 - 2020 5th International Conference on Control and Robotics Engineering, ICCRE 2020
SP - 89
EP - 94
BT - 2020 5th International Conference on Control and Robotics Engineering, ICCRE 2020
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 24 April 2020 through 26 April 2020
ER -