Decentralized control of networked systems has been widely investigated in the literature, with the aim of obtaining coordinated emerging behaviors (e.g. synchronization, swarming, coverage, formation control) by means of local interaction. In this paper we consider the possibility of injecting external inputs into the networked system, in order to obtain more complex cooperative behaviors. Specifically, we introduce a strategy that makes it possible to control the overall state of the networked system by directly controlling only a subset of the networked agents, namely the leaders. Exploiting local interaction rules, it is possible to define the inputs for the leaders in such a way that each follower is forced to track a desired periodic setpoint.
Decentralized Control Strategy for the Implementation of Cooperative Dynamic Behaviors in Networked Systems / M., Cocetti; Sabattini, Lorenzo; Secchi, Cristian; Fantuzzi, Cesare. - ELETTRONICO. - (2013), pp. 5902-5907. (Intervento presentato al convegno 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 tenutosi a Tokyo, Japan nel 3-7/11/2013) [10.1109/IROS.2013.6697212].
Decentralized Control Strategy for the Implementation of Cooperative Dynamic Behaviors in Networked Systems
SABATTINI, Lorenzo;SECCHI, Cristian;FANTUZZI, Cesare
2013
Abstract
Decentralized control of networked systems has been widely investigated in the literature, with the aim of obtaining coordinated emerging behaviors (e.g. synchronization, swarming, coverage, formation control) by means of local interaction. In this paper we consider the possibility of injecting external inputs into the networked system, in order to obtain more complex cooperative behaviors. Specifically, we introduce a strategy that makes it possible to control the overall state of the networked system by directly controlling only a subset of the networked agents, namely the leaders. Exploiting local interaction rules, it is possible to define the inputs for the leaders in such a way that each follower is forced to track a desired periodic setpoint.
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