Angle-based Formation Shape Control with Velocity Alignment. Issue 2 (2020)

• Record Type: Journal Article
• Authors: Chen, Liangming; Cao, Ming; Sun, Zhiyong; Anderson, Brian D.O.; Li, Chuanjiang
• Is Part Of: IFAC-PapersOnLine. Volume 53:Issue 2(2020)
• Page Start: 2447
• Page End: 2452
• Publication Date: 2020
• Subjects: Multi-agent systems -- formation control -- angle rigid formation -- velocity alignment; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2020.12.190
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: With the rapid development of sensor technology, bearing/angle measurements are becoming cheaper and more reliable, which motivates the study of angle-based formation shape control. This work studies how to achieve angle-based formation control and velocity alignment at the same time, in which all agents can form a desired angle-rigid formation and translate with the same velocity simultaneously. The agents' communication topology for the achievement of velocity alignment is described by a connected graph, while the formation shape is determined by a set of angles that are associated with triangles within the formation and computed using bearing measurements. A simulation example validates the effectiveness of the theoretical results.