Forced variational integrator for distance-based shape control with flocking behavior of multi-agent systems
A multi-agent system designed to achieve distance-based shape control with flocking behavior can be seen as a mechanical system described by a Lagrangian function and subject to additional external forces. Forced variational integrators are given by the discretization of Lagrange-d'Alembert pri...
| Main Authors: | , , , , |
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| Format: | Conference Paper |
| Published: |
2020
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| Online Access: | http://hdl.handle.net/20.500.11937/84240 |
| _version_ | 1848764632530944000 |
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| author | Colombo, L. Moreno, P. Ye, Mengbin de Marina, H.G. Cao, M. |
| author_facet | Colombo, L. Moreno, P. Ye, Mengbin de Marina, H.G. Cao, M. |
| author_sort | Colombo, L. |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | A multi-agent system designed to achieve distance-based shape control with flocking behavior can be seen as a mechanical system described by a Lagrangian function and subject to additional external forces. Forced variational integrators are given by the discretization of Lagrange-d'Alembert principle for systems subject to external forces, and have proved useful for numerical simulation studies of complex dynamical systems. We derive forced variational integrators that can be employed in the context of control algorithms for distance-based shape with velocity consensus. In particular, we provide an accurate numerical integrator with a lower computational cost than traditional solutions, while preserving the configuration space and symmetries. We also provide an explicit expression for the integration scheme in the case of an arbitrary number of agents with double integrator dynamics. For a numerical comparison of the performances, we use a planar formation consisting of three autonomous agents. |
| first_indexed | 2025-11-14T11:22:27Z |
| format | Conference Paper |
| id | curtin-20.500.11937-84240 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T11:22:27Z |
| publishDate | 2020 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-842402021-07-13T02:53:09Z Forced variational integrator for distance-based shape control with flocking behavior of multi-agent systems Colombo, L. Moreno, P. Ye, Mengbin de Marina, H.G. Cao, M. A multi-agent system designed to achieve distance-based shape control with flocking behavior can be seen as a mechanical system described by a Lagrangian function and subject to additional external forces. Forced variational integrators are given by the discretization of Lagrange-d'Alembert principle for systems subject to external forces, and have proved useful for numerical simulation studies of complex dynamical systems. We derive forced variational integrators that can be employed in the context of control algorithms for distance-based shape with velocity consensus. In particular, we provide an accurate numerical integrator with a lower computational cost than traditional solutions, while preserving the configuration space and symmetries. We also provide an explicit expression for the integration scheme in the case of an arbitrary number of agents with double integrator dynamics. For a numerical comparison of the performances, we use a planar formation consisting of three autonomous agents. 2020 Conference Paper http://hdl.handle.net/20.500.11937/84240 10.1016/j.ifacol.2020.12.1499 http://creativecommons.org/licenses/by-nc-nd/4.0/ fulltext |
| spellingShingle | Colombo, L. Moreno, P. Ye, Mengbin de Marina, H.G. Cao, M. Forced variational integrator for distance-based shape control with flocking behavior of multi-agent systems |
| title | Forced variational integrator for distance-based shape control with flocking behavior of multi-agent systems |
| title_full | Forced variational integrator for distance-based shape control with flocking behavior of multi-agent systems |
| title_fullStr | Forced variational integrator for distance-based shape control with flocking behavior of multi-agent systems |
| title_full_unstemmed | Forced variational integrator for distance-based shape control with flocking behavior of multi-agent systems |
| title_short | Forced variational integrator for distance-based shape control with flocking behavior of multi-agent systems |
| title_sort | forced variational integrator for distance-based shape control with flocking behavior of multi-agent systems |
| url | http://hdl.handle.net/20.500.11937/84240 |