A distributed control scheme for triangular formations with Markovian disturbances

Nguyen, DT; Krishnamurthy, V; Bishop, AN

A distributed control scheme for triangular formations with Markovian disturbances

Nguyen, DT Krishnamurthy, V Bishop, AN

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Publication Type:: Conference Proceeding
Citation:: Proceedings of the IEEE International Conference on Control Applications, 2013, pp. 1183 - 1187
Issue Date:: 2013-01-01

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Field	Value	Language
dc.contributor.author	Nguyen, DT	en_US
dc.contributor.author	Krishnamurthy, V	en_US
dc.contributor.author	Bishop, AN https://orcid.org/0000-0001-8581-8562	en_US
dc.date.issued	2013-01-01	en_US
dc.identifier.citation	Proceedings of the IEEE International Conference on Control Applications, 2013, pp. 1183 - 1187	en_US
dc.identifier.isbn	9781479915590	en_US
dc.identifier.uri	http://hdl.handle.net/10453/120652
dc.description.abstract	This work details a distributed control system for triangular formation control where the control actions applied by the agents can be chosen from a set of values during run-time (as opposed to a single value defined in a standard feedback controller). Such a control law is advantageous as it allows the individual agents freedom in choosing their individual headings and motion speeds (from the specified set) during execution. This offers greater flexibility and robustness than traditional distributed feedback formation control laws. An alternative interpretation of the results presented is that the control law presented is capable of handling measurements that may be corrupted by an unknown finite state Markov chain (which can model noisy sensors and/or communication channels). A strong convergence result is established which permits global exponential convergence of the formation to the desired shape. © 2013 IEEE.	en_US
dc.relation	http://purl.org/au-research/grants/arc/DE120102873
dc.relation.ispartof	Proceedings of the IEEE International Conference on Control Applications	en_US
dc.relation.isbasedon	10.1109/CCA.2013.6662912	en_US
dc.rights	info:eu-repo/semantics/closedAccess
dc.title	A distributed control scheme for triangular formations with Markovian disturbances	en_US
dc.type	Conference Proceeding
utslib.for	0906 Electrical and Electronic Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Biomedical Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CHT - Health Technologies
utslib.copyright.status	closed_access	*
pubs.publication-status	Published	en_US

Abstract:

This work details a distributed control system for triangular formation control where the control actions applied by the agents can be chosen from a set of values during run-time (as opposed to a single value defined in a standard feedback controller). Such a control law is advantageous as it allows the individual agents freedom in choosing their individual headings and motion speeds (from the specified set) during execution. This offers greater flexibility and robustness than traditional distributed feedback formation control laws. An alternative interpretation of the results presented is that the control law presented is capable of handling measurements that may be corrupted by an unknown finite state Markov chain (which can model noisy sensors and/or communication channels). A strong convergence result is established which permits global exponential convergence of the formation to the desired shape. © 2013 IEEE.

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http://hdl.handle.net/10453/120652