Essays about: "Tianrun Sun"

Found 1 essay containing the words Tianrun Sun.

  1. 1. Control Barrier Functions for Formation Control of Leader-follower Multi-agent Systems

    University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Author : Tianrun Sun; [2023]
    Keywords : Multi-agent System; Leader-follower System; Formation Control; Control Barrier Function; Connectivity Maintenance; Multi-agent-system; Leader-follower-system; Formations Kontroll; Kontroll Barriär Funktion; Underhåll av Anslutningsmöjligheter;

    Abstract : This thesis studies formation control for a class of general leader-follower multi-agent systems with Control Barrier Functions (CBFs) such that connectivity maintenance is fulfilled for all the neighboring agents. In leader-follower multi-agent systems, only the leader agents are controlled by the externally designed input, while the followers are guided through their dynamic couplings with the neighboring agents. READ MORE