Multi-agent formation control using angle measurements

Liangming Chen, Ming Cao, Chuanjiang Li, Xiaodong Cheng, Yuri Kapitanyuk

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer review

3 Citaten (Scopus)


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.

Originele taal-2Engels
Titel2019 American Control Conference, ACC 2019
Plaats van productiePiscataway
UitgeverijInstitute of Electrical and Electronics Engineers
Aantal pagina's6
ISBN van elektronische versie978-1-5386-7926-5
StatusGepubliceerd - 1 jul. 2019
Evenement2019 American Control Conference (ACC 2019) - Philadelphia, Verenigde Staten van Amerika
Duur: 10 jul. 201912 jul. 2019


Congres2019 American Control Conference (ACC 2019)
Verkorte titelACC2019
Land/RegioVerenigde Staten van Amerika
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