Formation control of multiple elliptical agents with limited sensing ranges

被引：56

作者：

Do, K. D. ^{[1
]}

机构：

[1] Univ Western Australia, Sch Mech Engn, Crawley, WA 6009, Australia

来源：

AUTOMATICA | 2012年 / 48卷 / 07期

关键词：

Formation control; Elliptical agents; Collision avoidance; Potential functions; Lyapunov's method; MOBILE SENSOR NETWORKS; COLLISION-AVOIDANCE; TRACKING CONTROL; SYSTEMS; STABILIZATION; ROBOTS;

D O I：

10.1016/j.automatica.2012.04.005

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a design of cooperative controllers that force a group of N mobile agents with an elliptical shape and with limited sensing ranges to perform a desired formation. The controllers guarantee no collisions between any agents in the group. The desired formation can be stabilized at feasible reference trajectories with bounded time derivatives. The formation control design is based on an algebraic separation condition between ellipses, Lyapunov's method, and smooth or p-times differentiable step functions. These functions are introduced and incorporated into novel potential functions to solve the collision avoidance problem without the need for switchings under the agents' limited sensing ranges. (C) 2012 Elsevier Ltd. All rights reserved.

引用

页码：1330 / 1338

页数：9