Decentralized formation of multi‐agent conformable fractional nonlinear robot systems

Author:

Ángeles‐Ramírez Oscar Alejandro1ORCID,Fernández‐Anaya Guillermo1,Hernández‐Martínez Eduardo Gamaliel2,González‐Sierra Jaime3,Ramírez‐Neria Mario2

Affiliation:

1. Mathematical and Physics Department Universidad Iberoamericana Mexico City Mexico

2. InIAT (Institute of Applied Reseach and Technology) Universidad Iberoamericana Mexico City Mexico

3. Unidad Profesional Interdisciplinaria de Ingeniería Campus Hidalgo Instituto Politécnico Nacional, Carretera Pachuca‐Actopan Kilómetro 1+500, Distrito de Educación, Salud, Ciencia, Tecnología e Innovación San Agustín Tlaxiaca Hidalgo Mexico

Abstract

AbstractA novel approach to address the asymptotic stability problem of the decentralized formation control of multi‐agent robot systems considering a cyclic pursuit formation graph is derived by using the classical Lyapunov's stability method and LaSalle's invariance principle. Theoretical development of a local potential function‐based control law and the formulation of the position and formation error dynamics, from the viewpoint of the multi‐variable conformable fractional‐order calculus, is given. In addition, a comparison between the integer‐order case and conformable fractional‐order case is provided. Finally, a numerical example illustrates the performance of the developed results.

Publisher

Wiley

Subject

Control and Systems Engineering,Electrical and Electronic Engineering,Mathematics (miscellaneous)

Reference36 articles.

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