2-D Directed Formation Control Based on Bipolar Coordinates
arXiv:2108.00916 · doi:10.1109/TAC.2022.3206603
Abstract
This work proposes a novel 2-D formation control scheme for acyclic triangulated directed graphs (a class of minimally acyclic persistent graphs) based on bipolar coordinates with (almost) global convergence to the desired shape. Prescribed performance control is employed to devise a decentralized control law that avoids singularities and introduces robustness against external disturbances while ensuring predefined transient and steady-state performance for the closed-loop system. Furthermore, it is shown that the proposed formation control scheme can handle formation maneuvering, scaling, and orientation specifications simultaneously. Additionally, the proposed control law is implementable in agents' arbitrarily oriented local coordinate frames using only low-cost onboard vision sensors, which are favorable for practical applications. Finally, a formation maneuvering simulation study verifies the proposed approach.
16 pages, 10 figures; minor typos corrected; no change in results
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Cited by in corpus (4)
- Integrated Relative-Measurement-Based Network Localization and Formation Maneuver Control (Extended Version)
- Angle-Constrained Formation Control under Directed Non-Triangulated Sensing Graphs (Extended Version)
- Low-Complexity Control for a Class of Uncertain MIMO Nonlinear Systems under Generalized Time-Varying Output Constraints (extended version)
- 3D Directed Formation Control with Global Shape Convergence using Bispherical Coordinates