Cooperative Control Design for Time-varying Formations of Multi-Agent Systems
Location:258 Fitzpatrick Hall
Cooperative control of multi-agent systems has been extensively studied in recent literature due to its large number of applications. We focus on cooperative control design for nonlinear multi-agent systems. Our control objective is to ensure that a group of agents reaches a formation characterized by external time-varying parameters. Based on previous results dealing with circular motions, the main idea is to transform the circular trajectories of a stable autonomous exosystem and to enforce the multi-agent system to track these transformed trajectories. Firstly, a translation control design is presented to stabilize the multi-agent system to a circular motion tracking a time-varying center. Then, we propose a new framework based on affine transformations to extend previous results to more complex time-varying formations. Moreover, both control laws are improved adding a cooperative term to distribute the agents uniformly along the formation. In addition, we present two applications of this approach: heterogeneous multi-agent systems consensus and formation control for distributed source-seeking.
Grenoble Institute of Technology
Lara Briñón-Arranz was born in Madrid on July 1984. She received her Master degree in Automation and Electronics Engineering in 2008 from the Technical University of Madrid, Spain. During her scholarship in France at the Grenoble Institute of Technology (2007/08) she joined the NeCS Team (Gipsa-lab/Inria). She received the Ph.D. degree in Control Engineering from the University of Grenoble, France in November 2011. In 2011-2012 she was Assistant Professor at Grenoble Institute of Technology.