Curtin University Homepage
  • Library
  • Help
    • Admin

    espace - Curtin’s institutional repository

    JavaScript is disabled for your browser. Some features of this site may not work without it.
    View Item 
    • espace Home
    • espace
    • Curtin Research Publications
    • View Item
    • espace Home
    • espace
    • Curtin Research Publications
    • View Item

    Relative formation control of mobile agents for gradient climbing and target capturing

    Access Status
    Fulltext not available
    Authors
    Do, Khac Duc
    Date
    2011
    Type
    Journal Article
    
    Metadata
    Show full item record
    Citation
    Do, K. 2011. Relative formation control of mobile agents for gradient climbing and target capturing. International Journal of Control. 84 (6): pp. 1098-1114.
    Source Title
    International Journal of Control
    DOI
    10.1080/00207179.2011.592998
    ISSN
    0020-7179
    School
    Department of Mechanical Engineering
    URI
    http://hdl.handle.net/20.500.11937/32931
    Collection
    • Curtin Research Publications
    Abstract

    Cooperative controllers are designed to force a group of N mobile agents with limited communication using only relative position between the agents to form a desired formation structure. The centre of the formation structure is the mean position of all the agents. The agents are stabilised at desired positions with respect to the centre of the structure. The proposed controllers also preserve initial communication connectivity and guarantees no collisions between the agents. The control design is based on smooth step functions and potential functions. The proposed control design is applied to solve gradient climbing and target capturing problems in both two- and three-dimensional spaces. The gradient average of a distributed field in nature or artificially generated by a target is first estimated over a bounded region using the field measurement by the agents. The gradient average is then used as the reference velocity to guide the agents. © 2011 Taylor & Francis.

    Related items

    Showing items related by title, author, creator and subject.

    • Formation Control of Multiple Agents with Preserving Connectivity and its Application to Gradient Climbing
      Do, Khac (2012)
      A design of cooperative controllers that force a group of N mobile agents with limited communication ranges to perform a desired formation is presented. The proposed formation control system also preserves initial ...
    • Formation control of multiple agents with preserving connectivity and its application to gradient climbing
      Do, Khac Duc (2012)
      © 2006-2012 by CCC Publications.A design of cooperative controllers that force a group of N mobile agents with limited communication ranges to perform a desired formation is presented. The proposed formation control system ...
    • Computational methods for solving optimal industrial process control problems
      Chai, Qinqin (2013)
      In this thesis, we develop new computational methods for three classes of dynamic optimization problems: (i) A parameter identification problem for a general nonlinear time-delay system; (ii) an optimal control problem ...
    Advanced search

    Browse

    Communities & CollectionsIssue DateAuthorTitleSubjectDocument TypeThis CollectionIssue DateAuthorTitleSubjectDocument Type

    My Account

    Admin

    Statistics

    Most Popular ItemsStatistics by CountryMost Popular Authors

    Follow Curtin

    • 
    • 
    • 
    • 
    • 

    CRICOS Provider Code: 00301JABN: 99 143 842 569TEQSA: PRV12158

    Copyright | Disclaimer | Privacy statement | Accessibility

    Curtin would like to pay respect to the Aboriginal and Torres Strait Islander members of our community by acknowledging the traditional owners of the land on which the Perth campus is located, the Whadjuk people of the Nyungar Nation; and on our Kalgoorlie campus, the Wongutha people of the North-Eastern Goldfields.