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Article Dans Une Revue IEEE Control Systems Letters Année : 2018

Hybrid framework for consensus in directed and asynchronous network of non-holonomic agents

Résumé

The paper presents a hybrid systems strategy for consensus (or formation realization) for a fleet of non-holonomic agents. In the proposed model, each agent has a smooth continuous-time dynamics and a piecewise constant impulsive reference. The jumps on the reference trajectory take place at some updating instants that are decided independently by each agent. The jumps computation is based on the relative distance with respect to some time-varying neighbors at the update instants. Between the updates of its reference each robot will track its own constant reference trajectory. Our results provide consensus (formation realization) as far as a minimum dwell-time condition between consecutive updates is satisfied. A numerical example illustrates the theoretical results.

Domaines

Automatique
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Dates et versions

hal-01840712 , version 1 (16-07-2018)

Identifiants

Citer

Tommaso Borzone, Irinel-Constantin Morarescu, Marc Jungers, Michael Boc, Christophe Janneteau. Hybrid framework for consensus in directed and asynchronous network of non-holonomic agents. IEEE Control Systems Letters, 2018, 2 (4), pp.707-712. ⟨10.1109/LCSYS.2018.2847407⟩. ⟨hal-01840712⟩
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