2-D Directed Formation Control Based on Bipolar Coordinates

This work proposes a novel 2-D formation control scheme for acyclic triangulated directed graphs (a class of minimally acyclic persistent graphs) based on bipolar coordinates with (almost) global convergence to the desired shape. Prescribed performance control is employed to devise a decentralized c...

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Bibliographic Details
Published in:IEEE transactions on automatic control 2023-07, Vol.68 (7), p.4175-4190
Main Authors: Mehdifar, Farhad, Bechlioulis, Charalampos P., Hendrickx, Julien M., Dimarogonas, Dimos V.
Format: Article
Language:English
Subjects:
Bipolar Coordinates
Closed loop systems
Closed loops
Control Engineering
Control theory
Convergence
Coordinate measuring machines
Decentralized control
Directed graphs
Electrical Engineering, Electronic Engineering, Information Engineering
Elektroteknik och elektronik
Engineering and Technology
Feedback control
Formation control
Formation Maneuvering
Formation Scaling
Graph theory
Graphs
Leader-follower
Leader-Follower Multi-Agent System
leader–follower multiagent system
Maneuvers
Multi agent systems
Performance control
Position measurement
Prescribed performance
Prescribed Performance Control
prescribed performance control (PPC)
Reagents
Reglerteknik
Rigidity
Scalings
Sensors
Shape
Teknik och teknologier
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Summary:This work proposes a novel 2-D formation control scheme for acyclic triangulated directed graphs (a class of minimally acyclic persistent graphs) based on bipolar coordinates with (almost) global convergence to the desired shape. Prescribed performance control is employed to devise a decentralized control law that avoids singularities and introduces robustness against external disturbances while ensuring predefined transient and steady-state performance for the closed-loop system. Furthermore, it is shown that the proposed formation control scheme can handle formation maneuvering, scaling, and orientation specifications simultaneously. Additionally, the proposed control law is implementable in agents' arbitrarily oriented local coordinate frames using only low-cost onboard vision sensors, which are favorable for practical applications. Finally, a formation maneuvering simulation study verifies the proposed approach.
ISSN:0018-9286
1558-2523
1558-2523
DOI:10.1109/TAC.2022.3206603