Back to Search
Start Over
Optimal Time-Invariant Formation Tracking for a Second-Order Multi-Agent System
- Source :
- 2019 18th European Control Conference (ECC) Napoli, Italy, pp. 1556-1561, June 25-28, 2019
- Publication Year :
- 2022
-
Abstract
- Given a multi-agent linear system, we formalize and solve a trajectory optimization problem that encapsulates trajectory tracking, distance-based formation control and input energy minimization. To this end, a numerical projection operator Newton's method is developed to find a solution by the minimization of a cost functional able to capture all these different tasks. To stabilize the formation, a particular potential function has been designed, allowing to obtain specified geometrical configurations while the barycenter position and velocity of the system follows a desired trajectory.<br />Comment: 7 pages, 5 figures, 1 table, extension of the manuscript presented at the 2019 European Control Conference
- Subjects :
- Electrical Engineering and Systems Science - Systems and Control
Subjects
Details
- Database :
- arXiv
- Journal :
- 2019 18th European Control Conference (ECC) Napoli, Italy, pp. 1556-1561, June 25-28, 2019
- Publication Type :
- Report
- Accession number :
- edsarx.2202.10196
- Document Type :
- Working Paper
- Full Text :
- https://doi.org/10.23919/ECC.2019.8796245