Affine Formation Maneuver Control of Multiagent Systems
A multiagent formation control task usually consists of two subtasks. The first is to steer the agents to form a desired geometric pattern, and the second is to achieve desired collective maneuvers so that the centroid, orientation, scale, and other geometric parameters of the formation can be chang...
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| Published in | IEEE transactions on automatic control Vol. 63; no. 12; pp. 4140 - 4155 |
|---|---|
| Main Author | |
| Format | Journal Article |
| Language | English |
| Published |
New York
IEEE
01.12.2018
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subjects | |
| Online Access | Get full text |
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| Abstract | A multiagent formation control task usually consists of two subtasks. The first is to steer the agents to form a desired geometric pattern, and the second is to achieve desired collective maneuvers so that the centroid, orientation, scale, and other geometric parameters of the formation can be changed continuously. This paper proposes a novel affine formation maneuver control approach to achieve the two subtasks simultaneously. The proposed approach relies on stress matrices, which can be viewed as generalized graph Laplacian matrices with both positive and negative edge weights. The proposed control laws can track any target formation that is a time-varying affine transformation of a nominal configuration. The centroid, orientation, scales in different directions, and even geometric pattern of the formation can all be changed continuously. The desired formation maneuvers are only known by a small number of agents called leaders, and the rest of the agents called followers only need to follow the leaders. The proposed control laws are globally stable and do not require global reference frames if the required measurements can be measured in each agent's local reference frame. |
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| AbstractList | A multiagent formation control task usually consists of two subtasks. The first is to steer the agents to form a desired geometric pattern, and the second is to achieve desired collective maneuvers so that the centroid, orientation, scale, and other geometric parameters of the formation can be changed continuously. This paper proposes a novel affine formation maneuver control approach to achieve the two subtasks simultaneously. The proposed approach relies on stress matrices, which can be viewed as generalized graph Laplacian matrices with both positive and negative edge weights. The proposed control laws can track any target formation that is a time-varying affine transformation of a nominal configuration. The centroid, orientation, scales in different directions, and even geometric pattern of the formation can all be changed continuously. The desired formation maneuvers are only known by a small number of agents called leaders, and the rest of the agents called followers only need to follow the leaders. The proposed control laws are globally stable and do not require global reference frames if the required measurements can be measured in each agent's local reference frame. |
| Author | Zhao, Shiyu |
| Author_xml | – sequence: 1 givenname: Shiyu orcidid: 0000-0003-3098-8059 surname: Zhao fullname: Zhao, Shiyu email: szhao@sheffield.ac.uk organization: Department of Automatic Control and Systems Engineering, University of Sheffield, Sheffield, U.K |
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| SubjectTerms | Affine transformation Affine transformations Control systems formation control Laplace equations Maneuvers Mobile agents Multiagent systems Stress stress matrices Target tracking Task analysis Tracking Transmission line matrix methods |
| Title | Affine Formation Maneuver Control of Multiagent Systems |
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