DeepAI AI Chat
Log In Sign Up

2-D Directed Formation Control Based on Bipolar Coordinates

by   Farhad Mehdifar, et al.

This work proposes a novel 2-D formation control scheme for acyclic triangulated directed graphs (a class of minimally acyclic persistent graphs) based on bipolar coordinates with (almost) global convergence to the desired shape. Prescribed performance control is employed to devise a decentralized control law that avoids singularities and introduces robustness against external disturbances while ensuring predefined transient and steady-state performance for the closed-loop system. Furthermore, it is shown that the proposed formation control scheme can handle formation maneuvering, scaling, and orientation specifications simultaneously. Additionally, the proposed control law is implementable in the agents' arbitrarily oriented local coordinate frames using only low-cost onboard vision sensors, which are favorable for practical applications. Finally, various simulation studies clarify and verify the proposed approach.


page 4

page 6

page 7

page 8

page 9

page 13

page 14

page 15


Prescribed Performance Distance-Based Formation Control of Multi-Agent Systems (Extended Version)

This paper presents a novel control protocol for robust distance-based f...

Directed Formation Control of n Planar Agents with Distance and Area Constraints

In this paper, we take a first step towards generalizing a recently prop...

Formation Control and Network Localization via Distributed Global Orientation Estimation in 3-D

In this paper, we propose a novel distributed formation control strategy...

Distributed formation maneuver control by manipulating the complex Laplacian

This paper proposes a novel maneuvering technique for the complex-Laplac...

Fully distributed cooperation for networked uncertain mobile manipulators

This paper investigates the fully distributed cooperation scheme for net...

Leaderless collective motions in affine formation control

This paper proposes a novel distributed technique to induce collective m...