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Distributed formation control with relaxed motion requirements
Bishop, Adrian N.1,2,3; Deghat, Mohammad1,2; Anderson, Brian D. O.1,2; Hong, Yiguang4
2015-11-25
Source PublicationINTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
ISSN1049-8923
Volume25Issue:17Pages:3210-3230
AbstractHeterogeneous formation shape control with interagent bearing and distance constraints involves the design of a distributed control law that ensures the formation moves such that these interagent constraints are achieved and maintained. This paper looks at the design of a distributed control scheme to solve different formation shape control problems in an ambient two-dimensional space with bearing, distance and mixed bearing and distance constraints. The proposed control law allows the agents in the formation to move in any direction on a half-plane and guarantees that despite this freedom, the proposed shape control algorithm ensures convergence to a formation shape meeting the prescribed constraints. This work provides an interesting and novel contrast to much of the existing work in formation control where distance-only constraints are typically maintained and where each agent's motion is typically restricted to follow a very particular path. A stability analysis is sketched, and a number of illustrative examples are also given. Copyright (c) 2014 John Wiley & Sons, Ltd.
Keyworddistributed control formation control multi-agent systems
DOI10.1002/rnc.3250
Language英语
Funding ProjectNICTA - Australian Government through the Department of Communications ; Australian Research Council through the ICT Centre of Excellence Program ; Australian Research Council (ARC)[DE-120102873] ; Australian Research Council (ARC)[DP-110100538]
WOS Research AreaAutomation & Control Systems ; Engineering ; Mathematics
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic ; Mathematics, Applied
WOS IDWOS:000363457100002
PublisherWILEY-BLACKWELL
Citation statistics
Document Type期刊论文
Identifierhttp://ir.amss.ac.cn/handle/2S8OKBNM/21028
Collection系统科学研究所
Corresponding AuthorBishop, Adrian N.
Affiliation1.Natl ICT Australia, Canberra, ACT, Australia
2.Australian Natl Univ, Canberra, ACT 0200, Australia
3.Univ Technol Sydney, Sydney, NSW 2007, Australia
4.Chinese Acad Sci, Acad Math & Syst Sci, Key Lab Syst & Control, Beijing, Peoples R China
Recommended Citation
GB/T 7714
Bishop, Adrian N.,Deghat, Mohammad,Anderson, Brian D. O.,et al. Distributed formation control with relaxed motion requirements[J]. INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL,2015,25(17):3210-3230.
APA Bishop, Adrian N.,Deghat, Mohammad,Anderson, Brian D. O.,&Hong, Yiguang.(2015).Distributed formation control with relaxed motion requirements.INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL,25(17),3210-3230.
MLA Bishop, Adrian N.,et al."Distributed formation control with relaxed motion requirements".INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 25.17(2015):3210-3230.
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