Arrêt de service programmé du vendredi 10 juin 16h jusqu’au lundi 13 juin 9h. Pour en savoir plus
Accéder directement au contenu Accéder directement à la navigation
Article dans une revue

Circular Formation Control of Multiple Unicycle-Type Agents With Nonidentical Constant Speeds

Abstract : This paper discusses the problem of controlling formation shapes for a group of nonholonomic unicycle-type agents with constant speeds. The control input is designed to steer their orientations and the aim is to achieve a desired formation configuration for all the agents subject to constant-speed constraints. The circular motion center is adopted as a virtual position for each agent to define the desired formation shape. We consider several different formation design approaches based on different formation specifications under different interaction graphs. In particular, two different formation design approaches, namely, a displacement-based approach and a distance-based approach, are discussed in detail to coordinate constant-speed agents in achieving a desired formation shape with stable circular motions via limited interactions. The communication and measurement requirements for each approach are also discussed. Furthermore, we propose a combined controller to stabilize a formation shape and synchronize the heading of each agent simultaneously. The effectiveness of the proposed formation control schemes is validated by both numerical simulations and real experiments with actual unmanned fixed-wing aircraft.
Type de document :
Article dans une revue
Liste complète des métadonnées

https://hal-enac.archives-ouvertes.fr/hal-01700713
Contributeur : Laurence Porte Connectez-vous pour contacter le contributeur
Soumis le : lundi 5 février 2018 - 10:43:28
Dernière modification le : mercredi 3 novembre 2021 - 05:17:27

Identifiants

Collections

Citation

Zhiyong Sun, Hector Garcia de Marina, Seyboth, G, Brian D.O. Anderson, Changbin Yu. Circular Formation Control of Multiple Unicycle-Type Agents With Nonidentical Constant Speeds. IEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers, 2019, 27 (1), pp 192 - 205. ⟨10.1109/TCST.2017.2763938⟩. ⟨hal-01700713⟩

Partager

Métriques

Consultations de la notice

45