Paper Info
Title
Multiagent Flocking With Angle-Based Formation Shape Control
Abstract
This technical note aims to design a decentralized control strategy for multiple double-integrator agents to achieve flocking while maintaining an angle-constrained triangulated formation shape in the plane. We design a novel decentralized formation controller that can steer agents to achieve common velocity while meeting some angle constraints; preserve formation rigidity during agents’ motion; and be implemented in the absence of the global coordinate system. Due to the rigidity preservation property, the proposed controller guarantees almost global convergence to a formation satisfying predefined angle constraints. Moreover, we give a definition of “sign” for strongly nondegenerate triangulated frameworks. By implementing the proposed control strategy, the target formation shape is guaranteed to be stable provided its sign is identical to that of the initial formation. A simulation example is presented for illustrating effectiveness of the proposed formation controller.
Year
DOI
Venue
2020
10.1109/TAC.2019.2917143
IEEE Transactions on Automatic Control
Keywords
DocType
Volume
Shape,Convergence,Sensors,Shape control,Decentralized control,Indexes
Journal
65
Issue
ISSN
Citations 
2
0018-9286
2
PageRank 
References 
Authors
0.36
15
2
Name
Order
Citations
PageRank
Gangshan Jing1707.05
Long Wang23846236.00