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5 July 2024 Bearing-only formation control for nonholonomic multiagent systems within prescribed setting time
Chengyang Yu, Jianzhen Li
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Proceedings Volume 13184, Third International Conference on Electronic Information Engineering and Data Processing (EIEDP 2024); 131846X (2024) https://doi.org/10.1117/12.3033094
Event: 3rd International Conference on Electronic Information Engineering and Data Processing (EIEDP 2024), 2024, Kuala Lumpur, Malaysia
Abstract
This paper studies the formation control problem of nonholonomic multiagent systems, and proposes a bearing-only formation control algorithm that converges in a prescribed time. In order to control large-scale formation flexibly, a leader and a first follower are selected in the swarm robot system, and the rest of the robots are called residual followers. For the first follower, a relative position estimation method based on bearing information is firstly designed, and then a tracking control algorithm using only bearing information is designed to keep the prescribed distance and bearing vector to the leader, and the tracking error can converge in a prescribed time. For the residual followers, a distributed control law using only bearing information is designed, so that the relative relative bearings vectors to all neighbors can converge to the expected value in a prescribed time. Finally, the effectiveness of the proposed algorithm is verified by a simulation.
(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.
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Chengyang Yu and Jianzhen Li "Bearing-only formation control for nonholonomic multiagent systems within prescribed setting time", Proc. SPIE 13184, Third International Conference on Electronic Information Engineering and Data Processing (EIEDP 2024), 131846X (5 July 2024); https://doi.org/10.1117/12.3033094
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KEYWORDS
Control systems
Detection and tracking algorithms
Kinematics
Matrices
Angular velocity
Robotic systems
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