Affine transformation‐based no‐beacon circular formation of agents. Issue 15 (25th February 2019)

• Record Type: Journal Article
• Authors: Jin, Lina; Yu, Shuanghe
• Is Part Of: Journal of engineering. Volume 2019:Issue 15(2019)
• Page Start: 599
• Page End: 604
• Publication Date: 2019-02-25
• Subjects: motion control -- decentralised control -- affine transforms -- mobile robots -- multi‐robot systems -- multi‐agent systems; circular motion behaviour -- displacement‐based decentralised control law -- regular polygon formation -- single‐integrator modelled agents -- affine transformation‐based no‐beacon circular formation -- exponential convergence -- circular formation control algorithm -- unicycle agents -- double‐integrator agents; Engineering -- Periodicals; Engineering; Electronic journals; Periodicals; 620.005
• DOI: 10.1049/joe.2018.9389
• Languages: English
• ISSNs: 2051-3305

Abstract

Abstract : This paper proposes a circular formation control algorithm for a group of agents to form a circular motion behaviour without the guidance of a global beacon. The control law consists of two parts which correspond to two systems (original system and reference exosystem) based on affine transformation. First, a displacement‐based decentralised control law is used to form a regular polygon formation for the reference exosystem. Second, let the original system track a rotating motion of reference exosystem by affine transformation. Combining the above two steps, the proposed strategy ensures exponential convergence of a group of single‐integrator modelled agents to the desired circular formation. Then, the authors generalise the approach to double‐integrator and unicycle type. Both theoretical analysis and numerical simulations are given to show the effectiveness of the proposed strategies.