1. Angle-based formation shape control with velocity alignment
- Author
-
Chen, Liangming, Cao, Ming, Sun, Zhiyong, Anderson, Brian D.O., Li, Chuanjiang, Findeisen, Rolf, Hirche, Sandra, Mönnigmann, Martin, and Discrete Technology and Production Automation
- Subjects
Physics ,0209 industrial biotechnology ,Work (thermodynamics) ,Bearing (mechanical) ,020208 electrical & electronic engineering ,Multi-agent systems ,Geometry ,Topology (electrical circuits) ,02 engineering and technology ,law.invention ,Shape control ,020901 industrial engineering & automation ,Control and Systems Engineering ,law ,Formation control ,0202 electrical engineering, electronic engineering, information engineering ,Development (differential geometry) ,Angle rigid formation ,Velocity alignment ,Connectivity - 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.
- Published
- 2020