Open AccessDistributed formation control of the special Euclidean group SE(2) via global orientation control
Author(s) -
Lee JaeGyeong,
Trinh Minh Hoang,
Ahn HyoSung,
Lee ByungHun
Publication year - 2020
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.2019.1285
Subject(s) - euclidean group , orientation (vector space) , translation (biology) , rotation (mathematics) , invariant (physics) , position (finance) , control theory (sociology) , rotation group so , control (management) , euclidean geometry , displacement (psychology) , reference frame , euclidean distance , computer science , frame (networking) , mathematics , geometry , artificial intelligence , telecommunications , affine space , affine transformation , psychology , biochemistry , chemistry , finance , messenger rna , economics , mathematical physics , psychotherapist , gene
The authors propose fully distributed strategies for multi‐agent formation control of the two‐dimensional special Euclidean group. To control the rotated local reference frames, they firstly estimate the orientation angle of each agent with regard to a global reference frame. By using only local measurements, the orientation angle is estimated in a distributed way. The estimated orientation is, then, exploited to control each agent's orientation. Each agent's orientation converges to the prescribed desired orientation. Finally, a distributed formation control strategy based on displacement measurement is proposed to achieve the desired formation shape of the two‐dimensional special Euclidean group. Under the proposed strategy, the authors ensure that the formation shape including position and orientation exponentially converges to the desired formation shape. Moreover, the formation shape is invariant to a translation and a rotation compared with the desired formation shape.