Formation control of multiple elliptical agents with limited sensing ranges
Abstract
This paper presents a design of cooperative controllers that force a group of N mobile agents with an elliptical shape and with limited sensing ranges to perform a desired formation. The controllers guarantee no collisions between any agents in the group. The desired formation can be stabilized at feasible reference trajectories with bounded time derivatives. The formation control design is based on an algebraic separation condition between ellipses, Lyapunov’s method, and smooth or p-times differentiable step functions. These functions are introduced and incorporated into novel potential functions to solve the collision avoidance problem without the need for switchings under the agents’ limited sensing ranges.
Citation
Source Title
ISSN
Remarks
NOTICE: this is the author’s version of a work that was accepted for publication in Automatica. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in Automatica, Vol. 48, no.7 (2012). DOI: 10.1016/j.automatica.2012.04.005.
Collection
Related items
Showing items related by title, author, creator and subject.
-
Do, Khac Duc (2011)Cooperative controllers are designed to force a group of N mobile agents with limited communication using only relative position between the agents to form a desired formation structure. The centre of the formation structure ...
-
Do, Khac Duc (2013)A constructive design of bounded formation controllers is proposed to force N mobile agents with second-order dynamics to track N reference trajectories and to avoid collision between them. Instead of a prior assignation ...
-
Do, Khac (2012)A design of cooperative controllers that force a group of N mobile agents with limited communication ranges to perform a desired formation is presented. The proposed formation control system also preserves initial ...