Application of an Output Tracking Technique to Formation Control

Recently we have developed a tracking-control technique that is based on a Newton-Raphson flow, systemoutput prediction, and controller speedup. This paper investigates an application of the technique to a swarm of mobile agents which have to maintain a given formation while in motion. The control i...

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Bibliographic Details
Published in2021 29th Mediterranean Conference on Control and Automation (MED) pp. 898 - 903
Main Authors Wardi, Y., Seatzu, C., Shivam, S.
Format Conference Proceeding
LanguageEnglish
Published IEEE 22.06.2021
Subjects
Automation
Decentralized control
Dynamics
Formation control
Mobile agents
Motion planning
Nonlinear dynamical systems
swarms
Tracking
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Summary:Recently we have developed a tracking-control technique that is based on a Newton-Raphson flow, systemoutput prediction, and controller speedup. This paper investigates an application of the technique to a swarm of mobile agents which have to maintain a given formation while in motion. The control is essentially distributed, where each agent, except for the leading one, collects information only from the agents immediately ahead of it. The motion dynamics of the agents are two dimensional and linear, but the tracking control technique can be extended to nonlinear systems as well. We investigate a specific example by simulation, and the results indicate convergence and several additional salient features of the control technique.
ISSN:2473-3504
DOI:10.1109/MED51440.2021.9480346