2-D Directed Formation Control Based on Bipolar Coordinates

• 成果类型: Article
• 署名作者: Mehdifar, Farhad; Bechlioulis, Charalampos P.; Hendrickx, Julien M.; Dimarogonas, Dimos V.
• 署名单位: Royal Institute of Technology; University of Patras; Universite Catholique Louvain
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2022.3206603
• 发表日期: 2023
• 页码: 4175-4190
• 关键词: Bipolar coordinates; formation maneuvering; formation scaling; leader-follower multiagent system; prescribed performance control (PPC)

摘要

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.