Abstract
In this paper, the cooperative control problem of making system’s different outputs converge to different steady states is studied for a general class of MIMO dynamic systems with finite but arbitrary relative degree. A set of less-restrictive conditions on the design of cooperative control feedback matrices are established. In particular, the proposed design does not require either that collaborative robots have a fixed communication/control structure (such as leader/followr or nearest neighbor) or that their sensor/communication graph be irreducible.
The research is supported in part by a grant from Lockheed Martin Corporation.
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Qu, Z., Wang, J., Hull, R.A. (2005). Multi-Objective Cooperative Control of Dynamical Systems. In: Parker, L.E., Schneider, F.E., Schultz, A.C. (eds) Multi-Robot Systems. From Swarms to Intelligent Automata Volume III. Springer, Dordrecht. https://doi.org/10.1007/1-4020-3389-3_4
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DOI: https://doi.org/10.1007/1-4020-3389-3_4
Publisher Name: Springer, Dordrecht
Print ISBN: 978-1-4020-3388-9
Online ISBN: 978-1-4020-3389-6
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