Maneuvering Angle Rigid Formations With Global Convergence Guarantees

doi:10.1109/JAS.2022.105749

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	Maneuvering Angle Rigid Formations With Global Convergence Guarantees
	Liangming Chen; Zhiyun Lin; Hector Garcia de Marina; Zhiyong Sun; Mir Feroskhan
刊名	IEEE/CAA Journal of Automatica Sinica
	2022
卷号	9 期号:8 页码:1464-1475
关键词	Angle rigid formations formation control formation maneuvering global convergence multi-agent systems
ISSN号	2329-9266
DOI	10.1109/JAS.2022.105749
英文摘要	Angle rigid multi-agent formations can simultaneously undergo translational, rotational, and scaling maneuvering, therefore combining the maneuvering capabilities of both distance and bearing rigid formations. However, maneuvering angle rigid formations in 2D or 3D with global convergence guarantees is shown to be a challenging problem in the existing literature even when relative position measurements are available. Motivated by angle-induced linear equations in 2D triangles and 3D tetrahedra, this paper aims to solve this challenging problem in both 2D and 3D under a leader-follower framework. For the 2D case where the leaders have constant velocities, by using local relative position and velocity measurements, a formation maneuvering law is designed for the followers governed by double-integrator dynamics. When the leaders have time-varying velocities, a sliding mode formation maneuvering law is proposed by using the same measurements. For the 3D case, to establish an angle-induced linear equation for each tetrahedron, we assume that all the followers’ coordinate frames share a common Z direction. Then, a formation maneuvering law is proposed for the followers to globally maneuver Z-weakly angle rigid formations in 3D. The extension to Lagrangian agent dynamics and the construction of the desired rigid formations by using the minimum number of angle constraints are also discussed. Simulation examples are provided to validate the effectiveness of the proposed algorithms.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/49654]
专题	自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Liangming Chen,Zhiyun Lin,Hector Garcia de Marina,et al. Maneuvering Angle Rigid Formations With Global Convergence Guarantees[J]. IEEE/CAA Journal of Automatica Sinica,2022,9(8):1464-1475.
APA	Liangming Chen,Zhiyun Lin,Hector Garcia de Marina,Zhiyong Sun,&Mir Feroskhan.(2022).Maneuvering Angle Rigid Formations With Global Convergence Guarantees.IEEE/CAA Journal of Automatica Sinica,9(8),1464-1475.
MLA	Liangming Chen,et al."Maneuvering Angle Rigid Formations With Global Convergence Guarantees".IEEE/CAA Journal of Automatica Sinica 9.8(2022):1464-1475.