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

Yoshihiro Tachibana, Toru Namerikawa

研究成果: Paper査読

3 被引用数 (Scopus)

抄録

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.

本文言語English
ページ1231-1236
ページ数6
出版ステータスPublished - 2013 1月 1
イベント2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013 - Nagoya, Japan
継続期間: 2013 9月 142013 9月 17

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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