Distributed formation control with time and connectivity constraints

• María Guinaldo ^[1] ; José Sánchez ^[1] ; Sebastián Dormido ^[1] ; Dimos V. Dimarogonas ^[2]
  1. [1] Universidad Nacional de Educación a Distancia

     Universidad Nacional de Educación a Distancia

     Madrid, España

     
  2. [2] Royal Institute of Technology

     Royal Institute of Technology

     Suecia

     
• Localización: XXXIX Jornadas de Automática: actas. Badajoz, 5-7 de septiembre de 2018 / coord. por Inés Tejado Balsera , Emiliano Pérez Hernández, Antonio José Calderón Godoy , Isaías González Pérez, Pilar Merchán García , Jesús Salvador Lozano Rogado , Santiago Salamanca Miño , Blas Manuel Vinagre Jara , 2018, ISBN 978-84-9749-756-5, págs. 506-513
• Idioma: inglés
• DOI: 10.17979/spudc.9788497497565.0507
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• Resumen

  • In this paper, we propose a distributed control law for non-holonomic vehicles that guarantees to achieve the desired formation and location before a given deadline, while maintaining the connectivity of the group. The group is commanded by a a selected subset of the agents, which know the location of the desired objective, while the rest of the vehicles only have information about their relative desired positions respect their set of neighbors. The analytical results are illustrated with a simulation example.