4.7 Article

Maneuvering Angle Rigid Formations With Global Convergence Guarantees

期刊

IEEE-CAA JOURNAL OF AUTOMATICA SINICA
卷 9, 期 8, 页码 1464-1475

出版社

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/JAS.2022.105749

关键词

Angle rigid formations; formation control; formation maneuvering; global convergence; multi-agent systems

资金

  1. National Natural Science Foundation of China [62173118]
  2. Spanish Ministry of Science [RYC2020-030090-I]

向作者/读者索取更多资源

This paper focuses on solving the maneuvering problem of angle rigid formations in both 2D and 3D environments. In the 2D case, a formation maneuvering law is designed using local relative position and velocity measurements. In the 3D case, a formation maneuvering law is proposed by assuming that all the followers' coordinate frames share a common Z direction. The effectiveness of the proposed algorithms is validated through simulation examples.
Angle rigid multi-agent formations can simultaneously undergo translational, rotational, and scaling maneuvering, therefore combining the maneuvering capabilities of both distance and bearing rigid formations. However, maneuvering angle rigid formations in 2D or 3D with global convergence guarantees is shown to be a challenging problem in the existing literature even when relative position measurements are available. Motivated by angle-induced linear equations in 2D triangles and 3D tetrahedra, this paper aims to solve this challenging problem in both 2D and 3D under a leader-follower framework For the 2D case where the leaders have constant velocities, by using local relative position and velocity measurements, a formation maneuvering law is designed for the followers governed by double-integrator dynamics. When the leaders have time-varying velocities, a sliding mode formation maneuvering law is proposed by using the same measurements. For the 3D case, to establish an angle-induced linear equation for each tetrahedron, we assume that all the followers' coordinate frames share a common Z direction. Then, a formation maneuvering law is proposed for the followers to globally maneuver Z weakly angle rigid formations in 3D. The extension to Lagrangian agent dynamics and the construction of the desired rigid formations by using the minimum number of angle constraints are also discussed. Simulation examples are provided to validate the effectiveness of the proposed algorithms.

作者

我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。

评论

主要评分

4.7
评分不足

次要评分

新颖性
-
重要性
-
科学严谨性
-
评价这篇论文

推荐

暂无数据
暂无数据