Distance-based acyclic minimally persistent formations with non-steepest descent control

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• 作者：Myoung-Chul Park ; Hyo-Sung Ahn
• 关键词：Decentralized control ; formation control ; graph rigidity ; persistent formation
• 刊名：International Journal of Control, Automation and Systems
• 出版年：2016
• 出版时间：February 2016
• 年：2016
• 卷：14
• 期：1
• 页码：163-173
• 全文大小：1,466 KB
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• 作者单位：Myoung-Chul Park (1)
  Hyo-Sung Ahn (1)
  
  1. School of Mechatronics, Gwangju Institute of Science and Technology (GIST), 123 Cheomdangwagi-ro(Oryong-dong), Buk-gu, Gwangju, 61005, Korea
  
• 刊物类别：Engineering
• 刊物主题：Control Engineering
  
• 出版者：The Institute of Control, Robotics and Systems Engineers and The Korean Institute of Electrical Engi
• ISSN：2005-4092

文摘

In this paper, we propose a control law to maneuver a group of mobile autonomous agents in the plane, where the information architecture among the agents is modeled by a directed graph. The objective is to achieve a prescribed formation shape by adjusting the inter-agent distances only, which is called the distance-based formation control. The proposed control law uses only relative position measurements so that each agent achieves its control objective in a decentralized manner. On the basis of the proposed control law, we analyze the convergence property of squared-distance errors. We first study a triangular formation and then extend the results of to acyclic minimally persistent formations having more than three agents. We also examine the formation including a moving leader. Numerical simulations and experiments with mobile robot platform are included. Keywords Decentralized control formation control graph rigidity persistent formation