Distributed algorithm for controlling scale-free polygonal formations.

被引：8

作者：

de Marina, Hector Garcia ^{[1
]}

Jayawardhana, Bayu ^{[2
]}

Cao, Ming ^{[2
]}

机构：

[1] Univ Toulouse, ENAC, F-31000 Toulouse, France

[2] Univ Groningen, Engn & Technol Inst Groningen ENTEG, Groningen, Netherlands

来源：

IFAC PAPERSONLINE | 2017年 / 50卷 / 01期

基金：

欧洲研究理事会;

关键词：

Formation control; Distributed control; Multi-agent system;

D O I：

10.1016/j.ifacol.2017.08.152

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 distributed algorithm for controlling the deployment of a team of mobile agents in formations whose shapes can be characterized by a broad class of polygons, including regular ones, where each agent occupies a corner of the polygon. The algorithm shares the appealing properties of the popular distance-based rigid formation control, but with the additional advantage of requiring the control of fewer pairs of neighboring agents. Furthermore, the scale of the polygon can be controlled by only one pair of neighboring agents. We also exploit the exponential stability of the controlled formation in order to steer the formation as a whole with translations and rotations in a prescribed way. We provide both theoretical analysis and illustrative simulations. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：1760 / 1765

页数：6

共 13 条

[1] Distributed Rotational and Translational Maneuvering of Rigid Formations and Their Applications [J].