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Flocking control of multi-agent systems with application to nonholonomic multi-robots

Qin Li, Zhong-Ping Jiang (2009)

Kybernetika

In this paper, we revisit the artificial potential based approach in the flocking control for multi-agent systems, where our main concerns are migration and trajectory tracking problems. The static destination or, more generally, the moving reference point is modeled by a virtual leader, whose information is utilized by some agents, called active agents (AA), for the controller design. We study a decentralized flocking controller for the case where the set of AAs is fixed. Some results on the velocity...

Fopid Controller Design for Robust Performance Using Particle Swarm Optimization

Zamani, Majid, Karimi-Ghartemani, Masoud, Sadati, Nasser (2007)

Fractional Calculus and Applied Analysis

Mathematics Subject Classification: 26A33; 93C15, 93C55, 93B36, 93B35, 93B51; 03B42; 70Q05; 49N05This paper proposes a novel method to design an H∞ -optimal fractional order PID (FOPID) controller with ability to control the transient, steady-state response and stability margins characteristics. The method uses particle swarm optimization algorithm and operates based on minimizing a general cost function. Minimization of the cost function is carried out subject to the H∞ -norm; this norm is also...

Generalized Birkhoffian realization of nonholonomic systems

Yong-Xin Guo, Chang Liu, Shi-Xing Liu (2010)

Communications in Mathematics

Based on the Cauchy-Kowalevski theorem for a system of partial differential equations to be integrable, a kind of generalized Birkhoffian systems (GBSs) with local, analytic properties are put forward, whose manifold admits a presymplectic structure described by a closed 2-form which is equivalent to the self-adjointness of the GBSs. Their relations with Birkhoffian systems, generalized Hamiltonian systems are investigated in detail. Analytic, algebraic and geometric properties of GBSs are formulated,...

Generalized Hamiltonian dynamics after Dirac and Tulczyjew

Fiorella Barone, Renato Grassini (2003)

Banach Center Publications

Dirac's generalized Hamiltonian dynamics is given an accurate geometric formulation as an implicit differential equation and is compared with Tulczyjew's formulation of dynamics. From the comparison it follows that Dirac's equation-unlike Tulczyjew's-fails to give a complete picture of the real laws of classical and relativistic dynamics.

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