Spherical Formation of Regular Tetrahedra

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• 英文论文题名：Spherical Formation of Regular Tetrahedra
• 论文作者：Zhang Silun ; He Fenghua ; Yao Yu ; Hu Xiaoming
• 英文论文作者：Zhang Silun ; He Fenghua ; Yao Yu ; Hu Xiaoming ; Optimization and Systems Theory ; Department of Mathematics ; KTH Royal Institute of Technology ; Control and Simulation Center ; Harbin Institute of Technology
• 年：2017
• 作者机构：Optimization and Systems Theory,Department of Mathematics,KTH Royal Institute of Technology;Control and Simulation Center,Harbin Institute of Technology;
• 英文论文关键词：Multi-agent systems ; formation control ; encircling control ; nonlinear feedback control
• 会议召开时间：2017-07-26
• 会议录名称：第36届中国控制会议论文集（A）
• 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
• 语种：英文
• 分类号：O231
• 学会代码：KZLL
• 会议名称：第36届中国控制会议
• 会议地点：中国辽宁大连
• 主办单位：中国自动化学会控制理论专业委员会
• 学会名称：中国自动化学会控制理论专业委员会
• 页数：6
• 文件大小：315k
• 原文格式：D
• 会议级别：全国

摘要

In this paper, we study the problem of tracking and encircling a moving target by agents in the 3-dimensional space.Specifically, a group of agents are driven to a regular tetrahedron formation on a spherical surface and simultaneously keep the center of this spherical formation coinciding with the target to be tracked. In the proposed method, to avoid the singularity caused by spherical parameterisations in control, we directly consider the spherical formation in space S2. Besides, the protocol proposed does not contain any information of the desired formation beforehand. Rather the constructed formation pattern is attributed to the properties of space S2 and the inter-agent topology.
In this paper, we study the problem of tracking and encircling a moving target by agents in the 3-dimensional space.Specifically, a group of agents are driven to a regular tetrahedron formation on a spherical surface and simultaneously keep the center of this spherical formation coinciding with the target to be tracked. In the proposed method, to avoid the singularity caused by spherical parameterisations in control, we directly consider the spherical formation in space S2. Besides, the protocol proposed does not contain any information of the desired formation beforehand. Rather the constructed formation pattern is attributed to the properties of space S2 and the inter-agent topology.

引文

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