Open AccessPosition centroid rendezvous and centroid formation of multiple unicycle agents
Author(s) -
Xie Wenjing,
Ma Baoli
Publication year - 2014
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2013.0940
Subject(s) - rendezvous , centroid , position (finance) , control theory (sociology) , computer science , trajectory , artificial intelligence , engineering , physics , aerospace engineering , control (management) , finance , economics , spacecraft , astronomy
This work investigates the position centroid rendezvous/formation problems of multiple unicycle agents for the first time. By constructing a new output, the unicycle model is converted to canonical normal form via feedback linearisation approach. Then, we propose the centroid rendezvous and the centroid formation control laws, respectively, guaranteeing that all the agents globally meet at the common initial centroid location and the desired geometric pattern centred at the initial centroid. The proposed control laws are distributed, smooth and time‐varying, ensuring the internal orientation states and the velocity inputs convergent to some fixed values and zero, respectively. All the results are proved under the communication scenarios of fixed directed balanced graph with a spanning tree. Simulation results verify the effectiveness and the robustness of the proposed control schemes.