Combining distance-based formation shape control with formation translation

Brian D.O. Anderson; Zhiyun Lin; Mohammad Deghat

doi:10.1049/PBCE076E_ch13

Combining distance-based formation shape control with formation translation

Brian D.O. Anderson, Zhiyun Lin, Mohammad Deghat

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

30 Citations (Scopus)

Abstract

Steepest descent control laws can be used for formation shape control based on specified interagent distances, assuming point agents with single integration of the control action to yield velocity. Separately, it is known how to achieve equal velocity for a collection of agents in a formation using consensus ideas, given appropriate properties for the graph describing information flows. This work shows how the two concepts of formation shape control and flocking behavior can be combined when one changes from an agent with single integration to one with double integration, and our new contribution is to do this when, as is common, there is a leader in the formation.

Original language	English
Title of host publication	Developments in Control Theory Towards Glocal Control
Publisher	Institution of Engineering and Technology
Pages	121-130
Number of pages	10
ISBN (Electronic)	9781849195348
ISBN (Print)	9781849195331
DOIs	https://doi.org/10.1049/PBCE076E_ch13
Publication status	Published - 1 Jan 2012

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10.1049/PBCE076E_ch13

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abstract = "Steepest descent control laws can be used for formation shape control based on specified interagent distances, assuming point agents with single integration of the control action to yield velocity. Separately, it is known how to achieve equal velocity for a collection of agents in a formation using consensus ideas, given appropriate properties for the graph describing information flows. This work shows how the two concepts of formation shape control and flocking behavior can be combined when one changes from an agent with single integration to one with double integration, and our new contribution is to do this when, as is common, there is a leader in the formation.",

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Combining distance-based formation shape control with formation translation

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