Generalization of nonlinear cyclic pursuit
Generalization of nonlinear cyclic pursuit
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DOI：
10.1016/j.automatica.2007.03.024
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发表时间：
2007-11
期刊：
影响因子：
--
通讯作者：
A. Sinha;D. Ghose
中科院分区：
文献类型：
--
作者：
A. Sinha;D. Ghose
本文研究了非线性循环追踪下的一组自主移动的智能体的形成问题的一些推广。循环追踪是一种简单的分布式控制律，其中智能体i追踪智能体i +1模n。每个代理人都受到非完整约束。得到了一组具有不同速度和不同控制器增益的智能体之间形成平衡的必要条件。这些结果推广了文献中的等速度和等控制器增益的结果。
In this paper, some generalizations of the problem of formation of a group of autonomous mobile agents under nonlinear cyclic pursuit is studied. Cyclic pursuit is a simple distributed control law, in which the agent i pursues agent i+1 modulo n. Each agent is subjected to a nonholonomic constraint. A necessary condition for equilibrium formation to occur among a group of agents with different speeds and different controller gains is obtained. These results generalize equal speed and equal controller gain results available in the literature.