Stabilization of rigid formations with direction-only constraints

Direction-based formation shape control for a collection of autonomous agents involves the design of distributed control laws that ensure the formation moves so that certain relative bearing constraints achieve, and maintain, some desired value. This paper looks at the design of a distributed contro...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Veröffentlicht in:2011 50th IEEE Conference on Decision and Control and European Control Conference S. 746 - 752
Hauptverfasser: Bishop, Adrian N., Shames, Iman, Anderson, Brian D.O.
Format: Tagungsbericht
Sprache:Englisch
Veröffentlicht: IEEE 01.12.2011
Schriftenreihe:Proceedings of the IEEE Conference on Decision and Control
Schlagworte:
A-stability
Autonomous agents
Bearing-only
Control laws
Control theory
Distributed control law
Distributed control schemes
Formation control
Illustrative examples
Jacobian matrices
Kernel
Nickel
Rigid formations
Sensors
Shape
Shape control
Stability analysis
Vectors
ISBN:9781612848006, 1612848001
ISSN:0191-2216
Online-Zugang:Volltext
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
Beschreibung
Zusammenfassung:Direction-based formation shape control for a collection of autonomous agents involves the design of distributed control laws that ensure the formation moves so that certain relative bearing constraints achieve, and maintain, some desired value. This paper looks at the design of a distributed control scheme to solve the direction-based formation shape control problem. A gradient control law is proposed based on the notion of bearing-only constrained graph rigidity and parallel drawings. This work provides an interesting and novel contrast to much of the existing work in formation control where distance-only constraints are typically maintained. A stability analysis is sketched and a number of illustrative examples are also given.
ISBN:9781612848006
1612848001
ISSN:0191-2216
DOI:10.1109/CDC.2011.6160743