학술논문

Control of rigid formations subject to nonholonomic dynamics constraints and velocity bounds
Document Type
Conference
Source
2013 IEEE 8th International Conference on Industrial and Information Systems Industrial and Information Systems (ICIIS), 2013 8th IEEE International Conference on. :338-343 Dec, 2013
Subject
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Engineered Materials, Dielectrics and Plasmas
Fields, Waves and Electromagnetics
Photonics and Electrooptics
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Dynamics
Trajectory
Synchronization
Vehicle dynamics
Force
Conferences
Information systems
Inder Terms
Consensus control
Decentralized control
Formation control
Geometric control
Rigid formation keeping
Language
ISSN
2164-7011
Abstract
We propose a control framework for a network of agents, each obeying second-order Newtonian dynamics and subject to nonholonomic constraints and velocity bounds. The first control objective is that the agents move in formation as though they were part of a single rigid body. A desired behavior is specified for the formation. The second control objective is that the formation asymptotically tracks this desired behavior. Both objectives are achieved using a method to embed the constraints of rigid body motion within a simple linear error feedback. The framework is demonstrated for the representative special case of a network of agents in the plane, with unicycle dynamics and bounded linear and angular velocities. To our knowledge, the result significantly extends the best results for formation control in this case. The method is designed specifically for decentralized implementation, and is extendable to correct formation errors or to allow formation reconfiguration.