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Controlling Dynamic Formations of Mobile Agents Governed by Euler-Lagrange Dynamics
Liangming Chen,Qingkai Yang,Chuanjiang Li,Guangfu Ma 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.5
This paper studies the problem of controlling dynamic formations of mobile agents governed by EulerLagrange dynamics. Here a formation is said to be dynamic if as time evolves, the desired formation undergoes translation, scaling and rotation. First, a constant-gain formation control algorithm is designed such that all agents can converge to the desired dynamic formation, in which the graphic information is needed for the selection of constant gains. Then, another fully distributed formation control algorithm is further proposed by employing variablegain control techniques, which enables each agent to be independent of the knowledge of the overall interaction graph needed otherwise in the control gain. Instead of moving with a desired translational velocity, a centroidtracking formation control algorithm is also proposed such that the centroid of the formation tracks a desired trajectory. The parametric uncertainties are taken into consideration in the proposed formation control algorithms. Finally, simulation examples are provided to validate the effectiveness of the proposed control algorithms.