3D Directed Formation Control with Global Shape Convergence using Bispherical Coordinates
arXiv:2403.13609 · doi:10.23919/ECC64448.2024.10591128
Abstract
In this paper, we present a novel 3D formation control scheme for directed graphs in a leader-follower configuration, achieving (almost) global convergence to the desired shape. Specifically, we introduce three controlled variables representing bispherical coordinates that uniquely describe the formation in 3D. Acyclic triangulated directed graphs (a class of minimally acyclic persistent graphs) are used to model the inter-agent sensing topology, while the agents' dynamics are governed by single-integrator model. Our analysis demonstrates that the proposed decentralized formation controller ensures (almost) global asymptotic stability while avoiding potential shape ambiguities in the final formation. Furthermore, the control laws are implementable in arbitrarily oriented local coordinate frames of follower agents using only low-cost onboard vision sensors, making it suitable for practical applications. Finally, we validate our formation control approach by a simulation study.
arXiv commentSubmitted to ECC 2024
References in corpus (4)
- Bearing Rigidity and Almost Global Bearing-Only Formation Stabilization
- Prescribed Performance Distance-Based Formation Control of Multi-Agent Systems (Extended Version)
- 2-D Directed Formation Control Based on Bipolar Coordinates
- 3D Directed Formation Control with Global Shape Convergence using Bispherical Coordinates