Abstract:
Iterative learning control (ILC), an approach to achieve perfect trajectory tracking for uncertain dynamic systems that are periodic or repetitive, can be viewed as a kin...Show MoreMetadata
Abstract:
Iterative learning control (ILC), an approach to achieve perfect trajectory tracking for uncertain dynamic systems that are periodic or repetitive, can be viewed as a kind of coordination or planning algorithm. This paper exploits this view to provide two coordination algorithms for distributed multi-agent systems. First we show how to achieve formation control for a class of nonholonomic mobile agents though an iterative update of each agent's angular velocity along the trajectory. The algorithm required to achieve this result uses local measurements, but a centralized computation of the control input. Second, we show a decentralized coordination strategy for a set of simple first-order integrator dynamic systems. In this case the control updates are computed locally by each agent using only local information, yet through the iterative update process the group achieves the desired formation. Numerical simulations illustrate the results.
Published in: 2011 IEEE International Symposium on Intelligent Control
Date of Conference: 28-30 September 2011
Date Added to IEEE Xplore: 17 October 2011
ISBN Information: