Naslov
Formation Control Using Adaptive Parameter-Dependent Potential Functions

Autori
Bartulović, Mihovil ; Palunko, Ivana ; Bogdan, Stjepan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of IEEE International Conference on Control Applications (CCA, ) Part of 2014 IEEE Multi-conference on Systems and Control / - , 2014, 530-535

Skup
2014 IEEE International Conference on Control Applications (CCA) Part of 2014 IEEE Multi-conference on Systems and Control

Mjesto i datum
Antibes, Francuska, 08.10.2014. - 10.10.2014

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Coordination; Agents; Adaptive control

Sažetak
In this paper we present a formation control approach based on Gaussian potential functions, each parametrized by an agent-related control parameter. This results in different characteristics of attractive and repulsive forces among agents and targets, as well as among agents themselves and dependence of the formation’s potential structure on the change of agent’s configurations. Furthermore, we show that the undesired stable equilibria can be eliminated by the mutual interaction of agents. This leads to the characteristics change of the elementary potential functions achieved by adaptation. The introduced adaptation changes the agent-related control parameters step-wise depending on the acquired equilibrium state. The proposed approach is implemented and validated in simulation and experimentally.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA