"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

页码：120 / 130

页数：11

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