Control of Multiagent Systems under Persistent Disturbances

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/44591

Title: Control of Multiagent Systems under Persistent Disturbances
Author: Yucelen, Tansel ; Egerstedt, Magnus B.
Abstract: This paper focuses on the consensus and formation problems of multiagent systems under unknown, persistent disturbances. Specifically, we propose a method that combines an existing consensus (or formation) algorithm with a new controller. The new controller has an integral action that produces a control input based on an error signal locally projected onto the column space of the graph Laplacian. This action allows agents to achieve a consensus or a predetermined formation objective under constant or time-varying disturbances.
Description: Presented at the 2012 American Control Conference, June 27-29, Montréal, Canada.
Type: Proceedings
Post-print
URI: http://hdl.handle.net/1853/44591
Citation: T. Yucelen and M. Egerstedt. Control of Multiagent Systems under Persistent Disturbances. American Control Conference, Montreal, Canada, June 2012.
Date: 2012-06
Contributor: Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Georgia Institute of Technology. School of Electrical and Computer Engineering
Kyoto University
Georgia Institute of Technology. School of Aerospace Engineering
Publisher: Georgia Institute of Technology
Subject: Networked control systems
Control of networks

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