Control of Triangle Formations with a Mix of Angle and Distance Constraints
Date
2012
Authors
Bishop, Adrian
Summers, Tyler
Anderson, Brian
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Publisher
IEEE Control Systems Society
Abstract
A distributed control law for triangular formation control with a mixture of bearing and range measurements and relative pair-wise inter-agent angle constraints and a single range constraint is introduced. The control law is weak in the sense that two agents are free to choose their own heading within a relatively large range of values. Indeed, the agents can determine their heading independently at run-time given any criteria they desire as long as certain relaxed conditions are met. A convergence result is established that ensures the desired formation configuration is asymptotically stable. Illustrative examples are provided to demonstrate the claims.
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Keywords: Angle constraint; Asymptotically stable; Control laws; Convergence results; Distance constraints; Distributed control law; Formation control; Illustrative examples; Range constraints; Range measurements; Relaxed conditions; Runtimes; Control
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2037-12-31
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