"1-N" Leader-Follower Formation Control of Multiple Agents Based on Bearing-Only Observation

被引：8
|
作者：
Han, Qing [1 ]
Li, Tiancheng [1 ]
Sun, Shudong [1 ]
Villarrubia, Gabriel [2 ]
de la Prieta, Fernando [2 ]
机构：
[1] Northwestern Polytech Univ, Sch Mech Engn, Xian 710072, Peoples R China
[2] Univ Salamanca, Fac Sci, E-37008 Salamanca, Spain
来源：
ADVANCES IN PRACTICAL APPLICATIONS OF AGENTS, MULTI-AGENT SYSTEMS, AND SUSTAINABILITY | 2015年 / 9086卷
关键词：
Multi-agent system; Formation control; Unscented Kalman filter;
D O I：
10.1007/978-3-319-18944-4_10
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
A formation control method is proposed for multiple agents of "1" leader and "N" follower where the following N-agents (as called followers) can only observe the bearing information of the leading 1-agent (as called the leader). It is proven that bearing-only observation meets the observability condition required for the "1-N" leader-follower formation system. The unscented Kalman filter is employed to estimate the relative position of the leader, based on which the input-output feedback control law is executed to control the real-time movement of the followers so that the "1-N" leader-followers formation is properly maintained. Simulation results demonstrate the effectiveness of our approach.
引用
收藏
页码：120 / 130
页数：11
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