Circular Formation Control of Multiple Unicycle-Type Agents With Nonidentical Constant Speeds
-
Altmetric Citations
Sun, Zhiyong; Garcia de Marina, Hector; Seyboth, Georg S.; Anderson, Brian; Yu, Changbin(Brad)
Description
This paper discusses the problem of controlling formation shapes for a group of nonholonomic unicycle-type agents with constant speeds. The control input is designed to steer their orientations and the aim is to achieve a desired formation configuration for all the agents subject to constant-speed constraints. The circular motion center is adopted as a virtual position for each agent to define the desired formation shape. We consider several different formation design approaches based on...[Show more]
Collections | ANU Research Publications |
---|---|
Date published: | 2019 |
Type: | Journal article |
URI: | http://hdl.handle.net/1885/198986 |
Source: | IEEE Transactions on Control Systems Technology |
DOI: | 10.1109/TCST.2017.2763938 |
Download
File | Description | Size | Format | Image |
---|---|---|---|---|
01_Sun_Circular_Formation_Control_of_2019.pdf | 2.54 MB | Adobe PDF | Request a copy |
Items in Open Research are protected by copyright, with all rights reserved, unless otherwise indicated.
Updated: 17 November 2022/ Responsible Officer: University Librarian/ Page Contact: Library Systems & Web Coordinator