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Distributed formation control with relaxed motion requirements.
- Source :
-
International Journal of Robust & Nonlinear Control . Nov2015, Vol. 25 Issue 17, p3210-3230. 21p. - Publication Year :
- 2015
-
Abstract
- 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. Copyright © 2014 John Wiley & Sons, Ltd. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 10498923
- Volume :
- 25
- Issue :
- 17
- Database :
- Academic Search Index
- Journal :
- International Journal of Robust & Nonlinear Control
- Publication Type :
- Academic Journal
- Accession number :
- 110465724
- Full Text :
- https://doi.org/10.1002/rnc.3250