Target-point formation control

• Shaoshuai Mou ^[1] ; Ming Cao ^[2] ; A. Stephen Morse
  1. [1] Purdue University

     Purdue University

     Township of Wabash, Estados Unidos

     
  2. [2] University of Groningen

     University of Groningen

     Países Bajos

     
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 61, 2015, págs. 113-118
• Idioma: inglés
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• Resumen

  • In this paper a new distributed feedback strategy is proposed for controlling a rigid, acyclic formation of kinematic point-modeled mobile autonomous agents in the plane. The strategy makes use of a new concept called a “target point” and is applicable to any two-dimensional, acyclic formation whose underlying directed graph can be generated by a sequence of Henneberg vertex additions. It is shown that the method can cause a group of agents starting in any given initial positions in the plane to move into a prescribed formation exponentially fast provided the formation’s designated leader and first follower start in different positions.