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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
Cited Times:33[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.amss.ac.cn/handle/2S8OKBNM/21028
Collection系统科学研究所
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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