Cooperative capturing for multi-Agent system with reaction force from target object

Yoshihiro Tachibana, Toru Namerikawa

Research output: Contribution to conferencePaper

3 Citations (Scopus)

Abstract

This paper proposes a cooperative control of multi-Agent system to capture target object. When the agents capture the target object, they may be subjected to reaction force from it. Therefore, we have to consider the physical contact between the agent and target object. First, we introduce the second order model to consider reaction force from target object. The network topology among agents is time-varying and connected, and information of target object is allowed to be available to at least one agent. Second, we show the proposed control law guarantees the agents capture the target object. The control law consists of graph theory and consensus algorithm, and we analyze the convergence property. Finally, simulation results show the effectiveness of the proposed control law.

Original languageEnglish
Pages1231-1236
Number of pages6
Publication statusPublished - 2013 Jan 1
Event2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013 - Nagoya, Japan
Duration: 2013 Sep 142013 Sep 17

Other

Other2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013
CountryJapan
CityNagoya
Period13/9/1413/9/17

    Fingerprint

Keywords

  • Cooperative capturing
  • Distributed cooperative control
  • Multi-Agent system

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Tachibana, Y., & Namerikawa, T. (2013). Cooperative capturing for multi-Agent system with reaction force from target object. 1231-1236. Paper presented at 2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013, Nagoya, Japan.