On the state agreement problem for multiple unicycles with varying communication links

Dimarogonas, DV; Kyriakopoulos, KJ

dc.contributor.author	Dimarogonas, DV	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:44:07Z
dc.date.available	2014-03-01T02:44:07Z
dc.date.issued	2006	en
dc.identifier.issn	01912216	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31697
dc.subject	Agent Communication	en
dc.subject	Agreement Problem	en
dc.subject	Computer Simulation	en
dc.subject	Feedback Control	en
dc.subject	Matrix Theory	en
dc.subject	Stability Theory	en
dc.subject	Multi Agent System	en
dc.subject.other	Computer simulation	en
dc.subject.other	Convergence of numerical methods	en
dc.subject.other	Decentralized control	en
dc.subject.other	Feedback control	en
dc.subject.other	Kinematics	en
dc.subject.other	Multi agent systems	en
dc.subject.other	Topology	en
dc.subject.other	Communication topology	en
dc.subject.other	Kinematic unicycles	en
dc.subject.other	Nonholonomic control law	en
dc.subject.other	Telecommunication links	en
dc.title	On the state agreement problem for multiple unicycles with varying communication links	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/CDC.2006.376819	en
heal.identifier.secondary	http://dx.doi.org/10.1109/CDC.2006.376819	en
heal.identifier.secondary	4177318	en
heal.publicationDate	2006	en
heal.abstract	This paper presents a decentralized feedback control strategy that drives a system of multiple nonholonomic kinematic unicycles to agreement. The communication links between the members of the team may change over time and hence the communication topology is dynamic. The case of static communication topology was dealt in [7]. The proposed nonholonomic control law is discontinuous and time-invariant and tools from nonsmooth stability theory and matrix theory are used to check the stability of the overall system. Similarly to the linear case, the convergence of the multi-agent system relies on the connectivity of the communication graph that represents the inter-agent communication topology. The convergence properties are verified through computer simulations. © 2006 IEEE.	en
heal.journalName	Proceedings of the IEEE Conference on Decision and Control	en
dc.identifier.doi	10.1109/CDC.2006.376819	en
dc.identifier.spage	4283	en
dc.identifier.epage	4288	en