TY - GEN

T1 - Control of triangular formations with a time-varying scale function

AU - Huang, Huang

AU - Yu, Changbin

AU - Wang, Xiangke

PY - 2011

Y1 - 2011

N2 - This paper considers a novel problem of how to choose the scale of the final geometry for three agents in a triangular formation. Instead of assigning a set of desired side lengths, here the only requirement for the desired geometry is a triangle without any location, rotation and, most importantly, scale constraints. We set up a cost function that corresponds to the geometries degree of similarity with respect to the desired shape during convergence, and the cost value is compared between a system with a time varying scale function and the one with a constant scale. A fixed structure nonlinear control law on the positions of agents and the scale function is developed to drive the three agents exponentially converge to a triangle that matches the desired one in a cooperative manner. The control algorithms are validated on three AirRobots. It is shown that system with the proposed time-varying scale function outperforms the one with a constant scale.

AB - This paper considers a novel problem of how to choose the scale of the final geometry for three agents in a triangular formation. Instead of assigning a set of desired side lengths, here the only requirement for the desired geometry is a triangle without any location, rotation and, most importantly, scale constraints. We set up a cost function that corresponds to the geometries degree of similarity with respect to the desired shape during convergence, and the cost value is compared between a system with a time varying scale function and the one with a constant scale. A fixed structure nonlinear control law on the positions of agents and the scale function is developed to drive the three agents exponentially converge to a triangle that matches the desired one in a cooperative manner. The control algorithms are validated on three AirRobots. It is shown that system with the proposed time-varying scale function outperforms the one with a constant scale.

UR - http://www.scopus.com/inward/record.url?scp=80053152517&partnerID=8YFLogxK

M3 - Conference contribution

SN - 9781457700804

T3 - Proceedings of the American Control Conference

SP - 4828

EP - 4833

BT - Proceedings of the 2011 American Control Conference, ACC 2011

T2 - 2011 American Control Conference, ACC 2011

Y2 - 29 June 2011 through 1 July 2011

ER -