Cascaded formation control using angle and distance between agents with orientation control (Part 1)

Publikationstyp
Conference Paper
Date Issued
2016-11-07
Sprache
English
Author(s)
Ahmadi Barogh, Siavash  
Werner, Herbert  
Institut
Regelungstechnik E-14  
TORE-URI
http://hdl.handle.net/11420/5286
Start Page
1
End Page
6
Article Number
7737625
Citation
2016 UKACC International Conference on Control, UKACC Control 2016: 7737625, 1-6 (2016-11-07)
Contribution to Conference
11th UKACC United Kingdom Automatic Control Council International Conference on Control, UKACC Control 2016  
Publisher DOI
10.1109/CONTROL.2016.7737625
Scopus ID
2-s2.0-85004000554
Publisher
IEEE
In this paper and its companion paper [1], a stable leader-following formation control for multi-agent systems with obstacle collision avoidance with orientation control is considered. We propose a cascaded distributed control law that uses information about the angle and distance between agents to achieve a cycle-free persistent formation. First, we provide a control scheme with collision avoidance for groups of agents with a single integrator model. We show the asymptotic stability of the formation under a gradient control law. Second, the proposed control law includes a distance-angle-based controller for shape stabilization and displacement-based formation control of certain leader agents to control the direction of the whole formation. Simulation results are presented to illustrate the proposed approach.
DDC Class
600: Technik
620: Ingenieurwissenschaften