Dr. Serban Sabau Profile

Dr. Serban Sabau

at Stevens Institute of Technology

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Proceedings Article | 12 April 2021 Poster

Peak-to-peak disturbances attenuation in multi-agent formation distributed control

Serban Sabau, Myron Hohil

Proceedings Volume 11746, 117462I (2021) https://doi.org/10.1117/12.2588002

KEYWORDS: Signal attenuation, Actuators

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This paper introduces a novel distributed architecture for the distributed control of autonomous agents, with guarantees for optimal peak-to-peak disturbances attenuation. The resulted scheme is able to perform trajectory control while preserving a pre-specified (distance-based) formation of the autonomous double integrator agents with first order (linear) actuators. The controller designed method is based on a "disturbances as sets" approach while the scheme is completely distributed, by constraining the sensing and communications radius of each agent in the formation. Compensation of inter-agent communications induce time-delays are also discussed.

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