Angle-based Cooperation Control of Triangle Formation

被引：0

作者：

Guo Jing ^{[1
]}

Zhang Caixia ^{[1
]}

Lin Meijin ^{[1
]}

机构：

[1] Foshan Univ, Dept Automat Sci, 18 Jiangwan First Rd, Foshan 528000, Peoples R China

来源：

2015 34TH CHINESE CONTROL CONFERENCE (CCC) | 2015年

关键词：

Cooperative control; Triangle formation; Angle-only constraints; RIGID FORMATIONS; STABILIZATION;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, the problem of stabilizing two agents with a beacon into a triangular formation is studied, in which the beacon is static and the specified triangle is characterized only by interior angles constraints. Assuming that each agent can measure the bearing of the beacon in its local frame. Meanwhile, the two agents neighbor each other, that is, they communicate with each other so that they can measure the bearing angle respectively and exchange the measured angle information each other. A control strategy is proposed utilizing only angle information which steers the two agents to form a triangular formation with the beacon. Both theoretical analysis and simulations are provided to demonstrate the effectiveness of the control algorithm.

引用

页码：7386 / 7391

页数：6

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