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Distributed formation control via global orientation estimation
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DOI：10.1016/j.automatica.2016.06.030.png)
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In this paper, we propose a novel distributed formation control strategy, which is based on the measurements of relative position of neighbors, with global orientation estimation. Since agents do not share a common reference frame, orientations of the local reference frames are not aligned with each other. The proposed strategy includes a combination of global orientation estimation and formation control law. Under the proposed strategy, the orientation of each agent is estimated in the global sense, if interaction graph has a spanning tree. With the estimated orientations of local frames, formation control strategy ensures that the formation globally exponentially converges to the desired formation. (C) 2016 Elsevier Ltd. All rights reserved.
Keyword:
Orientation estimation
Complex Laplacian
Formation control
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IF:
5.9
论文数:
1.2W
被引数:
5.2W
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A connection between formation infeasibility and velocity alignment in kinematic multi-agent systems.png)
AUTOMATICA
AUTOMATICAIF5.9
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