Форма представления | Статьи в зарубежных журналах и сборниках |
Год публикации | 2022 |
Язык | английский |
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Магид Евгений Аркадьевич, автор
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Библиографическое описание на языке оригинала |
Bai Y. Adaptive Multi-Agent Coverage Control With Obstacle Avoidance / Wang Y., Svinin M., Magid E., Sun R. // IEEE Control Systems Letters. - 2022. - Vol. 6. - p. 944-949. |
Аннотация |
This letter presents an adaptive coverage control strategy for multi-agent systems with obstacle avoidance in the presence of actuator faults and time-varying uncertainties. The strategy is based on a leader-follower approach. Assuming that the motion of the leader is given, one distributes the followers within the leader's obstacle-free sensing range so that collisions with obstacles can be avoided. An optimized distribution is achieved through the Centroidal Voronoi Tessellation (CVT) and a function approximation technique based immersion and invariance (FATII) coverage controller is constructed to realize the CVT. The stability of the FATII coverage controller is established and its validity is tested by simulations. |
Ключевые слова |
Adaptive control, uncertain systems, cooperative control |
Название журнала |
IEEE Control Systems Letters
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URL |
https://ieeexplore.ieee.org/document/9448334 |
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https://repository.kpfu.ru/?p_id=257409 |
Файлы ресурса | |
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Полная запись метаданных |
Поле DC |
Значение |
Язык |
dc.contributor.author |
Магид Евгений Аркадьевич |
ru_RU |
dc.date.accessioned |
2022-01-01T00:00:00Z |
ru_RU |
dc.date.available |
2022-01-01T00:00:00Z |
ru_RU |
dc.date.issued |
2022 |
ru_RU |
dc.identifier.citation |
Bai Y. Adaptive Multi-Agent Coverage Control With Obstacle Avoidance / Wang Y., Svinin M., Magid E., Sun R. // IEEE Control Systems Letters. - 2022. - Vol. 6. - p. 944-949. |
ru_RU |
dc.identifier.uri |
https://repository.kpfu.ru/?p_id=257409 |
ru_RU |
dc.description.abstract |
IEEE Control Systems Letters |
ru_RU |
dc.description.abstract |
This letter presents an adaptive coverage control strategy for multi-agent systems with obstacle avoidance in the presence of actuator faults and time-varying uncertainties. The strategy is based on a leader-follower approach. Assuming that the motion of the leader is given, one distributes the followers within the leader's obstacle-free sensing range so that collisions with obstacles can be avoided. An optimized distribution is achieved through the Centroidal Voronoi Tessellation (CVT) and a function approximation technique based immersion and invariance (FATII) coverage controller is constructed to realize the CVT. The stability of the FATII coverage controller is established and its validity is tested by simulations. |
ru_RU |
dc.language.iso |
ru |
ru_RU |
dc.subject |
Adaptive control |
ru_RU |
dc.subject |
uncertain systems |
ru_RU |
dc.subject |
cooperative control |
ru_RU |
dc.title |
Adaptive Multi-Agent Coverage Control With Obstacle Avoidance |
ru_RU |
dc.type |
Статьи в зарубежных журналах и сборниках |
ru_RU |
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