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Distributed formation control with relaxed motion requirements
Author(s) -
Bishop Adrian N.,
Deghat Mohammad,
Anderson Brian D. O.,
Hong Yiguang
Publication year - 2014
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.3250
Subject(s) - path (computing) , control theory (sociology) , convergence (economics) , work (physics) , motion (physics) , computer science , motion control , control (management) , stability (learning theory) , bearing (navigation) , mathematics , engineering , artificial intelligence , mechanical engineering , machine learning , robot , economics , programming language , economic growth
Summary Heterogeneous formation shape control with interagent bearing and distance constraints involves the design of a distributed control law that ensures the formation moves such that these interagent constraints are achieved and maintained. This paper looks at the design of a distributed control scheme to solve different formation shape control problems in an ambient two‐dimensional space with bearing, distance and mixed bearing and distance constraints. The proposed control law allows the agents in the formation to move in any direction on a half‐plane and guarantees that despite this freedom, the proposed shape control algorithm ensures convergence to a formation shape meeting the prescribed constraints. This work provides an interesting and novel contrast to much of the existing work in formation control where distance‐only constraints are typically maintained and where each agent's motion is typically restricted to follow a very particular path. A stability analysis is sketched, and a number of illustrative examples are also given. Copyright © 2014 John Wiley & Sons, Ltd.