Formation Control of Multi-Agent Systems With Orientation Noises

Orientation noises in sensors always spontaneously occur in the distributed process of information transmission or measurement, e.g., aperture radar, ultrasonic and laser sensors. This kind of noises may result in the unalignment of any pair of agents communicated with each other. In this paper, the...

Full description

Saved in:
Bibliographic Details
Published inIEEE transactions on network science and engineering Vol. 8; no. 1; pp. 305 - 317
Main Authors Li, Zhen, Tang, Yang, Fang, Jian-an, Huang, Tingwen
Format Journal Article
LanguageEnglish
Published Piscataway IEEE 01.01.2021
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Convergence
convex analysis
Formation control
Laplace equations
Martingales
multi-agent system
Multiagent systems
Noise measurement
Orientation effects
orientation noises
Polytopes
Position measurement
Protocols
Sensors
Shape
Online AccessGet full text

Cover

More Information
Summary:Orientation noises in sensors always spontaneously occur in the distributed process of information transmission or measurement, e.g., aperture radar, ultrasonic and laser sensors. This kind of noises may result in the unalignment of any pair of agents communicated with each other. In this paper, the formation control problem is investigated, where the orientation noises are modeled by some random sequences. To realize the specified formation shape, the considered problem is transformed into a convergence problem with respect to the orientation noises. The main idea of the method in this paper is to construct several convex polytopes to analyze this convergence problem, and design some martingale sequences to deal with the effect of orientation noises. Then, a sufficient criterion is derived to ensure the specified formation shape in mean square and almost surely (a.s.), respectively. Finally, a numerical example is given to illustrate the derived result.
ISSN:2327-4697
2334-329X
DOI:10.1109/TNSE.2020.3037139