Distributed Formation Control with Relaxed Motion Requirements

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Bishop, Adrian; Deghat, Mohammad; Anderson, Brian; Hong, Yiguang


2014-10-15


Journal Article


International Journal of Robust and Nonlinear Control


25


17


3210-3230


Heterogeneous formation shape control with interagent bearing and distance constraints involves the design of a distributed control law that ensures the formation moves such that these interagent constraints are achieved and maintained. This paper looks at the design of a distributed control scheme to solve different formation shape control problems in an ambient two-dimensional space with bearing, distance and mixed bearing and distance constraints. The proposed control law allows the agents in the formation to move in any direction on a half-plane and guarantees that despite this freedom, the proposed shape control algorithm ensures convergence to a formation shape meeting the prescribed constraints. This work provides an interesting and novel contrast to much of the existing work in formation control where distance-only constraints are typically maintained and where each agent's motion is typically restricted to follow a very particular path. A stability analysis is sketched, and a number of illustrative examples are also given.


Data61; NICTA


https://doi.org/10.1002/rnc.3250


English


nicta:8258


Bishop, Adrian; Deghat, Mohammad; Anderson, Brian; Hong, Yiguang. Distributed Formation Control with Relaxed Motion Requirements. International Journal of Robust and Nonlinear Control. 2014-10-15; 25(17):3210-3230. <a href="https://doi.org/10.1002/rnc.3250" target="_blank">https://doi.org/10.1002/rnc.3250</a>



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