Distributed formation control with relaxed motion requirements

doi:10.1002/rnc.3250

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	Distributed formation control with relaxed motion requirements
	Bishop, Adrian N.1,2,3; Deghat, Mohammad 1,2; Anderson, Brian D. O.1,2; Hong, Yiguang4
	2015-11-25
发表期刊	INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
ISSN	1049-8923
卷号	25 期号:17 页码:3210-3230
摘要	Heterogeneous 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.
关键词	distributed control formation control multi-agent systems
DOI	10.1002/rnc.3250
语种	英语
资助项目	NICTA - 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研究方向	Automation & Control Systems ; Engineering ; Mathematics
WOS类目	Automation & Control Systems ; Engineering, Electrical & Electronic ; Mathematics, Applied
WOS记录号	WOS:000363457100002
出版者	WILEY-BLACKWELL
引用统计
文献类型	期刊论文
条目标识符	http://ir.amss.ac.cn/handle/2S8OKBNM/21028
专题	系统科学研究所
通讯作者	Bishop, Adrian N.
作者单位	1.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
推荐引用方式 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.