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Bearing-Based Leader-Follower Formation Tracking Control Using Elevation Angle

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Název: Bearing-Based Leader-Follower Formation Tracking Control Using Elevation Angle
Autoři: Cheah, HL, Deghat, M
Zdroj: IEEE Access, Vol 12, Pp 128618-128630 (2024)
Informace o vydavateli: Institute of Electrical and Electronics Engineers (IEEE), 2024.
Rok vydání: 2024
Témata: anzsrc-for: 4009 Electronics, Multi-agent systems, anzsrc-for: 46 Information and Computing Sciences, formation tracking, formation control, anzsrc-for: 4602 Artificial Intelligence, TK1-9971, anzsrc-for: 40 Engineering, 46 Information and Computing Sciences, 4602 Artificial Intelligence, 4009 Electronics, Electrical engineering. Electronics. Nuclear engineering, Sensors and Digital Hardware, anzsrc-for: 09 Engineering, anzsrc-for: 08 Information and Computing Sciences, anzsrc-for: 10 Technology, 40 Engineering
Popis: This paper studies the elevation angle-based formation tracking control of multi-agent systems. Unlike bearing-based formation control, which uses bearing vectors, formation control using elevation angles eliminates the need for a global coordinate frame. This is beneficial because the coordinate frames of individual agents are often not aligned. Previous studies on elevation angle-based formation control have predominantly focused on leaderless formations. By incorporating a leader-follower structure, follower agents can effectively track and move with leaders, allowing the formation to move together and maneuver through obstacles. We consider three types of agents: single-integrator, double-integrator, and nonholonomic robots. For agents with a single integrator model, we first propose a control law for stationary leaders case and then modify the proposed control law to address moving leaders. Finite-time convergence to the desired formation is guaranteed. We then consider agents with double-integrator dynamics and nonholonomic robots, showing asymptotic convergence to the desired formation. Simulation results are provided to validate the proposed control laws.
Druh dokumentu: Article
ISSN: 2169-3536
DOI: 10.1109/access.2024.3456826
Přístupová URL adresa: https://doaj.org/article/fec0f88991b042128252efcabccf50de
Rights: CC BY
Přístupové číslo: edsair.doi.dedup.....8c667f1c3a106b529c193d6ec39e0707
Databáze: OpenAIRE
Popis
Abstrakt:This paper studies the elevation angle-based formation tracking control of multi-agent systems. Unlike bearing-based formation control, which uses bearing vectors, formation control using elevation angles eliminates the need for a global coordinate frame. This is beneficial because the coordinate frames of individual agents are often not aligned. Previous studies on elevation angle-based formation control have predominantly focused on leaderless formations. By incorporating a leader-follower structure, follower agents can effectively track and move with leaders, allowing the formation to move together and maneuver through obstacles. We consider three types of agents: single-integrator, double-integrator, and nonholonomic robots. For agents with a single integrator model, we first propose a control law for stationary leaders case and then modify the proposed control law to address moving leaders. Finite-time convergence to the desired formation is guaranteed. We then consider agents with double-integrator dynamics and nonholonomic robots, showing asymptotic convergence to the desired formation. Simulation results are provided to validate the proposed control laws.
ISSN:21693536
DOI:10.1109/access.2024.3456826