This paper investigates the triangular and polygonal formation control problem for mobile multi-agent systems under the constraint that each agent can only take angle measurements. For triangular formations, due to the fact that the sum of three interior angles always equals pi, the desired triangular shape can be obtained when any two agents achieve desired angles for which they are the corresponding vertices of the triangle. So to achieve the desired shape of a triangular formation, we propose to let one agent remain fixed and the other two agents move along their bisectors respectively with respect to their two neighbors. For convex polygonal formations, since the sum of all interior angles is constant, we are able to use a similar control strategy to achieve the desired polygonal shape. The stability of the closed-loop multi-agent systems is proved using Lyapunov theory. Finally, simulation examples illustrate the validity of the theoretic results.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Multi-agent formation control using angle measurements


    Beteiligte:
    Chen, Liangming (Autor:in) / Cao, Ming (Autor:in) / Li , Chuanjiang (Autor:in) / Cheng, Xiaodong (Autor:in) / Kapitaniuk, Yuri (Autor:in)

    Erscheinungsdatum :

    2019-01-01


    Anmerkungen:

    Chen , L , Cao , M , Li , C , Cheng , X & Kapitaniuk , Y 2019 , Multi-agent formation control using angle measurements . in Proceedings of the American Control Conference 2019 . IEEE , 2019 American Control Conference, ACC 2019 , Philadelphia , United States , 10/07/2019 . https://doi.org/10.23919/ACC.2019.8814738



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    DDC:    629



    Satellite Formation Flying Control by Using Only Angle Measurements

    Li, Jianqing / Chen, Liangming / Cao, Ming et al. | IEEE | 2023


    Multi-Agent Formation Control using Internal Model Principle

    Djamari, Djati Wibowo / Fikri, Muhamad Rausyan | IEEE | 2022


    MULTI-AGENT FORMATION CONTROL FOR UAV SWARMING

    Ilaya, O. E. / Bil, C. / International Council of the Aeronautical Sciences | British Library Conference Proceedings | 2006


    Coordinate-free formation control of multi-agent systems using rooted graphs

    Liu, Hui / Lin, Zhiyun / Cao, Ming et al. | BASE | 2018

    Freier Zugriff