Taming Mismatches in Inter-Agent Distances for the Formation-Motion Control of Second-Order Agents

Hector Garcia de Marina (1) , Bayu Jayawardhana (2) , Ming Cao (2)

1 ENAC - Ecole Nationale de l'Aviation Civile
2 University of Groningen [Groningen]

This paper presents the analysis on the influence of distance mismatches on the standard gradient-based rigid formation control for second-order agents. It is shown that, similar to the first-order case as recently discussed in the literature, these mismatches introduce two undesired group behaviors: a distorted final shape and a steady-state motion of the group formation. We show that such undesired behaviors can be eliminated by combining the standard formation control law with distributed estimators. Finally, we show how the mismatches can be effectively employed as design parameters in order to control a combined translational and rotational motion of the formation.

Mots clés: Formation Control; Rigid Formation; Motion Control; Second-Order dynamics

Domaines: Sciences de l'ingénieur [physics]; Automatique / Robotique

Hector Garcia de Marina, Bayu Jayawardhana, Ming Cao. Taming Mismatches in Inter-Agent Distances for the Formation-Motion Control of Second-Order Agents. IEEE Transactions on Automatic Control, 2017, ⟨10.1109/TAC.2017.2715226⟩. ⟨hal-01557327⟩