Paper Info
Title
“1-N” Leader-Follower Formation Control of Multiple Agents Based on Bearing-Only Observation
Abstract
A formation control method is proposed for multiple agents of "1" leader and "N" follower where the following N-agents (as called followers) can only observe the bearing information of the leading 1-agent (as called the leader). It is proven that bearing-only observation meets the observability condition required for the "1-N" leader-follower formation system. The unscented Kalman filter is employed to estimate the relative position of the leader, based on which the input-output feedback control law is executed to control the real-time movement of the followers so that the "1-N" leader-followers formation is properly maintained. Simulation results demonstrate the effectiveness of our approach.
Year
DOI
Venue
2015
10.1007/978-3-319-18944-4_10
ADVANCES IN PRACTICAL APPLICATIONS OF AGENTS, MULTI-AGENT SYSTEMS, AND SUSTAINABILITY
Keywords
Field
DocType
Multi-agent system,Formation control,Unscented Kalman filter
Observability,Control theory,Leader follower,Computer science,Kalman filter,Multi-agent system,Bearing (mechanical)
Conference
Volume
ISSN
Citations 
9086
0302-9743
0
PageRank 
References 
Authors
0.34
17
5
Name
Order
Citations
PageRank
Qing Han100.34
Tiancheng Li2157761.01
Shudong Sun336128.11
Gabriel Villarrubia418324.85
Fernando De la Prieta526341.90