Distributed connectivity preservation of a team of single integrator agents subject to measurement error

This paper deals with the connectivity preservation of multi-agent systems with state-dependent error in distance measurement. It is assumed that upper bounds on the measurement error and also its rate of change as a function of distance are available. A general class of distributed control strategi...

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Bibliographic Details
Published in2011 IEEE International Symposium on Computer-Aided Control System Design (CACSD) pp. 626 - 631
Main Authors Salehisadaghiani, F., Ajorlou, A., Aghdam, A. G.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.09.2011
Subjects
Distance measurement
Distributed control
Lead
Measurement errors
Measurement uncertainty
Multiagent systems
Upper bound
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ISBN1457710668
9781457710667
ISSN2165-3011
DOI10.1109/CACSD.2011.6044531

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Summary:This paper deals with the connectivity preservation of multi-agent systems with state-dependent error in distance measurement. It is assumed that upper bounds on the measurement error and also its rate of change as a function of distance are available. A general class of distributed control strategies is then proposed for the distance-dependent connectivity preservation of the agents in the network. It is shown that if two neighboring agents are initially located at a distance closer than the required connectivity range, they are guaranteed to remain in the connectivity range at all times. The effectiveness of the proposed control strategies in consensus and containment problems is demonstrated by simulation.
ISBN:1457710668
9781457710667
ISSN:2165-3011
DOI:10.1109/CACSD.2011.6044531