Leader-follower and Leaderless Bipartite Formation-consensus over Undirected Coopetition Networks and under Proximity and Collision-avoidance Constraints - Archive ouverte HAL Accéder directement au contenu
Pré-Publication, Document De Travail Année : 2023

Leader-follower and Leaderless Bipartite Formation-consensus over Undirected Coopetition Networks and under Proximity and Collision-avoidance Constraints

Résumé

We propose a method to control networks involving both cooperative and competitive interactions simultaneously under proximity and collision-avoidance constraints. The control design is of gradient type, using a barrier-Lyapunov function. Then, under the assumption that the network is undirected and structurally balanced, we establish asymptotic stability of the leaderless and leader-follower bipartite formation-consensus manifold. We assume that the agents are modeled by secondorder integrators, but we also demonstrate the utility of our theoretical findings via numerical simulations on a problem of formation-consensus control of nonholonomic vehicles.
Fichier principal
Vignette du fichier
v1_IJC_withauthordetails.pdf (1.18 Mo) Télécharger le fichier
Origine Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-04298252 , version 1 (21-11-2023)

Identifiants

  • HAL Id : hal-04298252 , version 1

Citer

Pelin Şekercioğlu, Ioannis Sarras, Antonio Loria, Elena Panteley, Julien Marzat. Leader-follower and Leaderless Bipartite Formation-consensus over Undirected Coopetition Networks and under Proximity and Collision-avoidance Constraints. 2023. ⟨hal-04298252⟩
45 Consultations
55 Téléchargements

Partager

Gmail Mastodon Facebook X LinkedIn More