Adaptive motion coordination with an unknown reference velocity | IEEE Conference Publication | IEEE Xplore

Adaptive motion coordination with an unknown reference velocity


Abstract:

We study a motion coordination problem where a group of agents is required to reach consensus while tracking a leader's sinusoidal reference velocity. We assume that the ...Show More

Abstract:

We study a motion coordination problem where a group of agents is required to reach consensus while tracking a leader's sinusoidal reference velocity. We assume that the frequency of the reference velocity is available only to the leader. Building on an existing passivity-based internal model control design, we develop a decentralized two-time-scale adaptive control that estimates the unknown frequency information and achieves consensus of the group. We establish uniform asymptotic stability of the adaptive design using a two-time-scale averaging theory. Simulation results illustrate the effectiveness of the proposed control.
Date of Conference: 01-03 July 2015
Date Added to IEEE Xplore: 30 July 2015
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Conference Location: Chicago, IL, USA

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