Area of research
Computer Networks and Communications · Control and Systems Engineering
Research interest
Research topics from publications: A Modular Optimal Formation Control Scheme of Multiagent Systems With Application to Multiple Mobile Robots; Embedded technique-based formation control of multiple wheeled mobile robots with application to cooperative transportation. Representative work: In this article, we studied an optimal formation control problem of general integrator chain multiagent systems with strongly convex local cost functions. The control goal is to design appropriate controllers for the agents such that they reach a desired formation shape and the global cost function is minimized. To achieve the goal, a modular control scheme with two modules is proposed. First, in Module I, an optimal formation signal generator is designed, whose outputs asymptotically converge to the minimizer of the global cost function. Second, in Module II, by employing the outputs into the feedback loop as the agents’ reference trajectories, some linear-tracking controllers are designed