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Adaptive motion coordination: Using velocity feedback to achieve parameter convergence

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3 Author(s)
He Bai ; Dept. of Electr., Rensselaer Polytech. Inst., Troy, NY ; Arcak, M. ; Wen, J.T.

We study a coordination problem where the objective is to steer a group of agents to a formation that translates with a prescribed reference velocity. In [1] we considered the situation where the information of reference velocity is available only to a leader, and developed a decentralized adaptive design with which the other agents reconstruct the reference velocity. Although [1] guaranteed that the desired formation is achieved, it did not ensure parameter convergence. We now propose a new adaptive redesign, which incorporates relative velocity feedback in addition to relative position feedback, to guarantee parameter convergence.

Published in:

American Control Conference, 2008

Date of Conference:

11-13 June 2008