Distributed Adaptive Formation Control for Uncertain Point Mass Agents with Mixed Dimensional Space

Ridho Rosa; Bayu Jayawardhana

doi:10.1109/LCSYS.2023.3289809

Distributed Adaptive Formation Control for Uncertain Point Mass Agents with Mixed Dimensional Space

Ridho Rosa^*, Bayu Jayawardhana

^*Corresponding author for this work

Discrete Technology and Production Automation

Research output: Contribution to journal › Article › Academic › peer-review

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Abstract

We propose distance-based distributed adaptive formation control of point mass agents in port-Hamiltonian (pH) framework that can deal with parameter uncertainties and with mixed dimensional space (2D, 3D or mixed 2D/3D). Adaptive control mechanism is subsequently proposed to maintain formation of uncertain pH systems with unknown damping parameters. Numerical simulations are presented for both known and uncertain point mass agents in mixed 2D/3D space.

Original language	English
Pages (from-to)	2725 - 2730
Number of pages	6
Journal	IEEE Control Systems Letters
Volume	7
DOIs	https://doi.org/10.1109/LCSYS.2023.3289809
Publication status	Published - 26-Jun-2023

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10.1109/LCSYS.2023.3289809

Distributed Adaptive Formation Control for Uncertain Point Mass Agents With Mixed Dimensional SpaceFinal publisher's version, 1.16 MBLicence: Taverne

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title = "Distributed Adaptive Formation Control for Uncertain Point Mass Agents with Mixed Dimensional Space",

abstract = "We propose distance-based distributed adaptive formation control of point mass agents in port-Hamiltonian (pH) framework that can deal with parameter uncertainties and with mixed dimensional space (2D, 3D or mixed 2D/3D). Adaptive control mechanism is subsequently proposed to maintain formation of uncertain pH systems with unknown damping parameters. Numerical simulations are presented for both known and uncertain point mass agents in mixed 2D/3D space.",

author = "Ridho Rosa and Bayu Jayawardhana",

year = "2023",

month = jun,

day = "26",

doi = "10.1109/LCSYS.2023.3289809",

language = "English",

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pages = " 2725 -- 2730",

journal = "IEEE Control Systems Letters",

issn = "2475-1456",

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T1 - Distributed Adaptive Formation Control for Uncertain Point Mass Agents with Mixed Dimensional Space

AU - Rosa, Ridho

AU - Jayawardhana, Bayu

PY - 2023/6/26

Y1 - 2023/6/26

N2 - We propose distance-based distributed adaptive formation control of point mass agents in port-Hamiltonian (pH) framework that can deal with parameter uncertainties and with mixed dimensional space (2D, 3D or mixed 2D/3D). Adaptive control mechanism is subsequently proposed to maintain formation of uncertain pH systems with unknown damping parameters. Numerical simulations are presented for both known and uncertain point mass agents in mixed 2D/3D space.

AB - We propose distance-based distributed adaptive formation control of point mass agents in port-Hamiltonian (pH) framework that can deal with parameter uncertainties and with mixed dimensional space (2D, 3D or mixed 2D/3D). Adaptive control mechanism is subsequently proposed to maintain formation of uncertain pH systems with unknown damping parameters. Numerical simulations are presented for both known and uncertain point mass agents in mixed 2D/3D space.

U2 - 10.1109/LCSYS.2023.3289809

DO - 10.1109/LCSYS.2023.3289809

M3 - Article

SN - 2475-1456

VL - 7

SP - 2725

EP - 2730

JO - IEEE Control Systems Letters

JF - IEEE Control Systems Letters

ER -

Distributed Adaptive Formation Control for Uncertain Point Mass Agents with Mixed Dimensional Space

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