0
TECHNICAL BRIEFS

Control of Multiagent Systems Using Linear Cyclic Pursuit With Heterogenous Controller Gains

[+] Author and Article Information
A. Sinha

Guidance, Control and Decision Systems Laboratory, Department of Aerospace Engineering, Indian Institute of Science, Bangalore 560012, India

D. Ghose1

Guidance, Control and Decision Systems Laboratory, Department of Aerospace Engineering, Indian Institute of Science, Bangalore 560012, India

1

Corresponding author.

J. Dyn. Sys., Meas., Control 129(5), 742-748 (Nov 30, 2006) (7 pages) doi:10.1115/1.2764505 History: Received April 15, 2006; Revised November 30, 2006

In this paper, behavior of a group of autonomous mobile agents under cyclic pursuit is studied. Cyclic pursuit is a simple distributed control law, in which the agent i pursues agent i+1modn. The equations of motion are linear, with no kinematic constraints on motion. Behaviorally, they are identical but may have different controller gains. We generalize existing results in the literature, which consider only homogenous gains, to the case where controller gains are heterogenous. We show that, by selecting suitable controller gains, collective behavior of agents can be controlled significantly to obtain not only point convergence but also directed motion. In particular, we obtain analytical results that relate the controller gains to the direction of movement of the agents when the system is unstable. Invariance results with respect to the pursuit sequence are also proved. Finally, we also obtain some results that show some aspects of system behavior that is invariant with respect to finite switching of connections. Simulation experiments are given in support of the analytical results.

FIGURES IN THIS ARTICLE
<>
Copyright © 2007 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Figure 1

The trajectories of five agents: the gains of the agents satisfy, (a) Condition (i) of Theorem 4 and (b) Condition (ii) of Theorem 4

Grahic Jump Location
Figure 2

The trajectories of five agents: the gains of the agents satisfy (a) Condition (iii) of Theorem 4 and (b) none of the conditions of Theorem 4

Grahic Jump Location
Figure 3

Simulation to demonstrate pursuit sequence invariance of the rendezvous point

Grahic Jump Location
Figure 4

Simulation to demonstrate pursuit sequence invariance of the asymptote point

Grahic Jump Location
Figure 5

Simulation to demonstrate finite pursuit sequence switching invariance of (a) the rendezvous point (b) the asymptote point

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In