### Abstract

This paper investigates the triangular and polygonal formation control problem for mobile multi-agent systems under the constraint that each agent can only take angle measurements. For triangular formations, due to the fact that the sum of three interior angles always equals π, the desired triangular shape can be obtained when any two agents achieve desired angles for which they are the corresponding vertices of the triangle. So to achieve the desired shape of a triangular formation, we propose to let one agent remain fixed and the other two agents move along their bisectors respectively with respect to their two neighbors. For convex polygonal formations, since the sum of all interior angles is constant, we are able to use a similar control strategy to achieve the desired polygonal shape. The stability of the closed-loop multi-agent systems is proved using Lyapunov theory. Finally, simulation examples illustrate the validity of the theoretic results.

Language | English |
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Title of host publication | 2019 American Control Conference, ACC 2019 |

Place of Publication | Piscataway |

Publisher | Institute of Electrical and Electronics Engineers |

Pages | 59-64 |

Number of pages | 6 |

ISBN (Electronic) | 978-1-5386-7926-5 |

State | Published - 1 Jul 2019 |

Event | 2019 American Control Conference, ACC 2019 - Philadelphia, United States Duration: 10 Jul 2019 → 12 Jul 2019 http://acc2019.a2c2.org |

### Conference

Conference | 2019 American Control Conference, ACC 2019 |
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Abbreviated title | ACC2019 |

Country | United States |

City | Philadelphia |

Period | 10/07/19 → 12/07/19 |

Internet address |

### Fingerprint

### Cite this

*2019 American Control Conference, ACC 2019*(pp. 59-64). [8814738] Piscataway: Institute of Electrical and Electronics Engineers.

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*2019 American Control Conference, ACC 2019.*, 8814738, Institute of Electrical and Electronics Engineers, Piscataway, pp. 59-64, 2019 American Control Conference, ACC 2019, Philadelphia, United States, 10/07/19.

**Multi-agent formation control using angle measurements.** / Chen, Liangming; Cao, Ming; Li, Chuanjiang; Cheng, Xiaodong; Kapitanyuk, Yuri.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - Multi-agent formation control using angle measurements

AU - Chen,Liangming

AU - Cao,Ming

AU - Li,Chuanjiang

AU - Cheng,Xiaodong

AU - Kapitanyuk,Yuri

PY - 2019/7/1

Y1 - 2019/7/1

N2 - This paper investigates the triangular and polygonal formation control problem for mobile multi-agent systems under the constraint that each agent can only take angle measurements. For triangular formations, due to the fact that the sum of three interior angles always equals π, the desired triangular shape can be obtained when any two agents achieve desired angles for which they are the corresponding vertices of the triangle. So to achieve the desired shape of a triangular formation, we propose to let one agent remain fixed and the other two agents move along their bisectors respectively with respect to their two neighbors. For convex polygonal formations, since the sum of all interior angles is constant, we are able to use a similar control strategy to achieve the desired polygonal shape. The stability of the closed-loop multi-agent systems is proved using Lyapunov theory. Finally, simulation examples illustrate the validity of the theoretic results.

AB - This paper investigates the triangular and polygonal formation control problem for mobile multi-agent systems under the constraint that each agent can only take angle measurements. For triangular formations, due to the fact that the sum of three interior angles always equals π, the desired triangular shape can be obtained when any two agents achieve desired angles for which they are the corresponding vertices of the triangle. So to achieve the desired shape of a triangular formation, we propose to let one agent remain fixed and the other two agents move along their bisectors respectively with respect to their two neighbors. For convex polygonal formations, since the sum of all interior angles is constant, we are able to use a similar control strategy to achieve the desired polygonal shape. The stability of the closed-loop multi-agent systems is proved using Lyapunov theory. Finally, simulation examples illustrate the validity of the theoretic results.

UR - http://www.scopus.com/inward/record.url?scp=85072268545&partnerID=8YFLogxK

M3 - Conference contribution

SP - 59

EP - 64

BT - 2019 American Control Conference, ACC 2019

PB - Institute of Electrical and Electronics Engineers

CY - Piscataway

ER -