Leaderless affine formation maneuvers over directed graphs

被引：3

作者：

Garanayak, Chinmay ^{[1
]}

Mukherjee, Dwaipayan ^{[1
]}

机构：

[1] Indian Inst Technol, Dept Elect Engn, Mumbai 400076, Maharashtra, India

来源：

2022 IEEE 61ST CONFERENCE ON DECISION AND CONTROL (CDC) | 2022年

关键词：

D O I：

10.1109/CDC51059.2022.9993005

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 studies leaderless affine formation maneuver control over a directed sensing topology, in the presence of constant input disturbances. Directed sensing topology is important when limitations in the sensing capabilities of an agent are considered. Unlike traditional leader-follower approaches, in case of leaderless formation maneuvers, there are no leaders. First, control laws for leaderless affine formation maneuvering for single integrator agents are presented, considering a directed sensing graph. Global Asymptotic Stability (GAS) is proved for formation tracking error in presence of constant disturbances. Subsequently, for higher-order systems, control laws are designed using an adaptive back-stepping based approach and GAS is proved for such control laws. Simulations are provided to validate the results.

引用

页码：3983 / 3988

页数：6

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