Multi-Agent Formation Control under Switching Network and Input Constraints

Djati Wibowo Djamari; Azwirman Gusrialdi; Muhamad Rausyan Fikri; Yuliana Susilowati

doi:10.1016/j.ifacol.2023.10.1349

Multi-Agent Formation Control under Switching Network and Input Constraints

Djati Wibowo Djamari, Azwirman Gusrialdi, Muhamad Rausyan Fikri, Yuliana Susilowati

Automation Technology and Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Scientific › peer-review

1 Citation (Scopus)

16 Downloads (Pure)

Abstract

This work discusses formation control of heterogeneous Multi-Agent Systems (MASs) under discrete time setting where its formation size is scalable by a scaling factor. The case with and without input constraints are discussed. The communication network is assumed to be jointly connected and the leader-follower network is assumed for the unconstrained case. Compared to the previous work on distributed scalable formation control for heterogeneous agents, this work considers input constraints in the formulation. The proposed algorithm is based on the discrete time version of the internal model principle and the constraint is handled by the command governor. Numerical examples are shown to illustrate the proposed method.

Original language	English
Title of host publication	22nd IFAC World Congress
Subtitle of host publication	Yokohama, Japan, July 9-14, 2023
Editors	Hideaki Ishii, Yoshio Ebihara, Jun-ichi Imura, Masaki Yamakita
Publisher	Elsevier
Pages	2620-2625
Number of pages	6
ISBN (Electronic)	9781713872344
DOIs	https://doi.org/10.1016/j.ifacol.2023.10.1349
Publication status	Published - 2023
Publication type	A4 Article in conference proceedings
Event	IFAC World Congress - Yokohama, Japan Duration: 9 Jul 2023 → 14 Jul 2023

Publication series

Name	IFAC-PapersOnLine
Number	2
Volume	56
ISSN (Electronic)	2405-8963

Conference

Conference	IFAC World Congress
Country/Territory	Japan
City	Yokohama
Period	9/07/23 → 14/07/23

Keywords

Multi-agent formation
Internal Model Principle
Input Constraint

Publication forum classification

Publication forum level 1

Access to Document

10.1016/j.ifacol.2023.10.1349Licence: CC BY-NC-ND

1-s2.0-S240589632301755X-mainFinal published version, 856 KBLicence: CC BY-NC-ND

https://urn.fi/URN:NBN:fi:tuni-2023122111165Licence: CC BY-NC-ND

Networked Robotics – NeBoLab
Gusrialdi, A. (Contact)
Automation Technology and Mechanical Engineering
Facility/equipment: Facility

Cite this

Djamari, D. W., Gusrialdi, A., Fikri, M. R., & Susilowati, Y. (2023). Multi-Agent Formation Control under Switching Network and Input Constraints. In H. Ishii, Y. Ebihara, J. Imura, & M. Yamakita (Eds.), 22nd IFAC World Congress: Yokohama, Japan, July 9-14, 2023 (pp. 2620-2625). (IFAC-PapersOnLine; Vol. 56, No. 2). Elsevier. https://doi.org/10.1016/j.ifacol.2023.10.1349

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title = "Multi-Agent Formation Control under Switching Network and Input Constraints",

abstract = "This work discusses formation control of heterogeneous Multi-Agent Systems (MASs) under discrete time setting where its formation size is scalable by a scaling factor. The case with and without input constraints are discussed. The communication network is assumed to be jointly connected and the leader-follower network is assumed for the unconstrained case. Compared to the previous work on distributed scalable formation control for heterogeneous agents, this work considers input constraints in the formulation. The proposed algorithm is based on the discrete time version of the internal model principle and the constraint is handled by the command governor. Numerical examples are shown to illustrate the proposed method.",

keywords = "Multi-agent formation, Internal Model Principle, Input Constraint",

author = "Djamari, {Djati Wibowo} and Azwirman Gusrialdi and Fikri, {Muhamad Rausyan} and Yuliana Susilowati",

year = "2023",

doi = "10.1016/j.ifacol.2023.10.1349",

language = "English",

series = "IFAC-PapersOnLine",

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editor = "Hideaki Ishii and Yoshio Ebihara and Jun-ichi Imura and Masaki Yamakita",

booktitle = "22nd IFAC World Congress",

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note = "IFAC World Congress ; Conference date: 09-07-2023 Through 14-07-2023",

}

Djamari, DW, Gusrialdi, A , Fikri, MR & Susilowati, Y 2023, Multi-Agent Formation Control under Switching Network and Input Constraints. in H Ishii, Y Ebihara, J Imura & M Yamakita (eds), 22nd IFAC World Congress: Yokohama, Japan, July 9-14, 2023. IFAC-PapersOnLine, no. 2, vol. 56, Elsevier, pp. 2620-2625, IFAC World Congress, Yokohama, Japan, 9/07/23. https://doi.org/10.1016/j.ifacol.2023.10.1349

Multi-Agent Formation Control under Switching Network and Input Constraints. / Djamari, Djati Wibowo; Gusrialdi, Azwirman ; Fikri, Muhamad Rausyan et al.
22nd IFAC World Congress: Yokohama, Japan, July 9-14, 2023. ed. / Hideaki Ishii; Yoshio Ebihara; Jun-ichi Imura; Masaki Yamakita. Elsevier, 2023. p. 2620-2625 (IFAC-PapersOnLine; Vol. 56, No. 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Scientific › peer-review

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T1 - Multi-Agent Formation Control under Switching Network and Input Constraints

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AU - Fikri, Muhamad Rausyan

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PY - 2023

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N2 - This work discusses formation control of heterogeneous Multi-Agent Systems (MASs) under discrete time setting where its formation size is scalable by a scaling factor. The case with and without input constraints are discussed. The communication network is assumed to be jointly connected and the leader-follower network is assumed for the unconstrained case. Compared to the previous work on distributed scalable formation control for heterogeneous agents, this work considers input constraints in the formulation. The proposed algorithm is based on the discrete time version of the internal model principle and the constraint is handled by the command governor. Numerical examples are shown to illustrate the proposed method.

AB - This work discusses formation control of heterogeneous Multi-Agent Systems (MASs) under discrete time setting where its formation size is scalable by a scaling factor. The case with and without input constraints are discussed. The communication network is assumed to be jointly connected and the leader-follower network is assumed for the unconstrained case. Compared to the previous work on distributed scalable formation control for heterogeneous agents, this work considers input constraints in the formulation. The proposed algorithm is based on the discrete time version of the internal model principle and the constraint is handled by the command governor. Numerical examples are shown to illustrate the proposed method.

KW - Multi-agent formation

KW - Internal Model Principle

KW - Input Constraint

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DO - 10.1016/j.ifacol.2023.10.1349

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Y2 - 9 July 2023 through 14 July 2023

ER -

Multi-Agent Formation Control under Switching Network and Input Constraints

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