مقاله Robust decentralized control of consensus-based formations of leader-follower networks with uncertain directed topologies on bounded velocity trajectories undened for followers via backstepping method

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 مقاله Robust decentralized control of consensus-based formations of leader-follower networks with uncertain directed topologies on bounded velocity trajectories undened for followers via backstepping method دارای ۱۶ صفحه می باشد و دارای تنظیمات در microsoft word می باشد و آماده پرینت یا چاپ است

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توجه : در صورت  مشاهده  بهم ریختگی احتمالی در متون زیر ،دلیل ان کپی کردن این مطالب از داخل فایل ورد می باشد و در فایل اصلی مقاله Robust decentralized control of consensus-based formations of leader-follower networks with uncertain directed topologies on bounded velocity trajectories undened for followers via backstepping method،به هیچ وجه بهم ریختگی وجود ندارد

بخشی از متن مقاله Robust decentralized control of consensus-based formations of leader-follower networks with uncertain directed topologies on bounded velocity trajectories undened for followers via backstepping method :

سال انتشار : ۲۰۱۶

تعداد صفحات :۱۶

In this paper, decentralized control of formation of a special category of leaderfollower networks on bounded velocity trajectories is addressed. The network of the agents in this study is supposed to have a directed graph with a spanning tree rooted at the leader agent. Moreover, follower agents do not receive online or have oine velocity of the desired trajectory, such as in tracking problem of trajectories which are not predened or when the total bandwidth is narrow. Furthermore, the leader does not receive any information from any agent and its control is fully centralized. In the present study, formation problem is considered a consensus problem. The controller is designed for integrator and doubleintegrator agents via backstepping. Furthermore, suitable condition of the robustness of the controller against the changes of the communication topology of the network is derived. Simulations verify the capability and robustness of the designed control law. In a simulation, formation keeping error reduction by tuning a gain of the controller, as claimed in the design procedure, is demonstrated.