4,167 research outputs found
Bearing-Only Consensus and Formation Control under Directed Topologies
We address the problems of bearing-only consensus and formation control,
where each agent can only measure the relative bearings of its neighbors and
relative distances are not available. We provide stability results for the
Filippov solutions of two gradient-descent laws from non-smooth Lyapunov
functions in the context of differential inclusion. For the consensus and
formation control problems with undirected sensing topologies, we prove
finite-time and asymptotic convergence of the proposed non-smooth gradient
flows. For the directed consensus problem, we prove asymptotic convergence
using a different non-smooth Lyapunov function given that the sensing graph has
a globally reachable node. Finally, For the directed formation control problem
we prove asymptotic convergence for directed cycles and directed acyclic graphs
and also introduce a new notion of bearing persistence which guarantees
convergence to the desired bearings
Robust Distance-Based Formation Control of Multiple Rigid Bodies with Orientation Alignment
This paper addresses the problem of distance- and orientation-based formation
control of a class of second-order nonlinear multi-agent systems in 3D space,
under static and undirected communication topologies. More specifically, we
design a decentralized model-free control protocol in the sense that each agent
uses only local information from its neighbors to calculate its own control
signal, without incorporating any knowledge of the model nonlinearities and
exogenous disturbances. Moreover, the transient and steady state response is
solely determined by certain designer-specified performance functions and is
fully decoupled by the agents' dynamic model, the control gain selection, the
underlying graph topology as well as the initial conditions. Additionally, by
introducing certain inter-agent distance constraints, we guarantee collision
avoidance and connectivity maintenance between neighboring agents. Finally,
simulation results verify the performance of the proposed controllers.Comment: IFAC Word Congress 201
Synchronization of multiple rigid body systems: a survey
The multi-agent system has been a hot topic in the past few decades owing to
its lower cost, higher robustness, and higher flexibility. As a particular
multi-agent system, the multiple rigid body system received a growing interest
since its wide applications in transportation, aerospace, and ocean
exploration. Due to the non-Euclidean configuration space of attitudes and the
inherent nonlinearity of the dynamics of rigid body systems, synchronization of
multiple rigid body systems is quite challenging. This paper aims to present an
overview of the recent progress in synchronization of multiple rigid body
systems from the view of two fundamental problems. The first problem focuses on
attitude synchronization, while the second one focuses on cooperative motion
control in that rotation and translation dynamics are coupled. Finally, a
summary and future directions are given in the conclusion
Bearing-Based Distributed Control and Estimation of Multi-Agent Systems
This paper studies the distributed control and estimation of multi-agent
systems based on bearing information. In particular, we consider two problems:
(i) the distributed control of bearing-constrained formations using relative
position measurements and (ii) the distributed localization of sensor networks
using bearing measurements. Both of the two problems are considered in
arbitrary dimensional spaces. The analyses of the two problems rely on the
recently developed bearing rigidity theory. We show that the two problems have
the same mathematical formulation and can be solved by identical protocols. The
proposed controller and estimator can globally solve the two problems without
ambiguity. The results are supported with illustrative simulations.Comment: 6 pages, to appear in the 2015 European Control Conferenc
A Review of Consensus-based Multi-agent UAV Applications
In this paper, a review of distributed control for multi-agent systems is proposed, focusing on consensus-based applications. Both rotary-wing and fixed-wing Unmanned Aerial Vehicles (UAVs) are considered. On one side, methodologies and implementations based on collision and obstacle avoidance through consensus are analyzed for multirotor UAVs. On the other hand, a target tracking through consensus is considered for fixed-wing UAVs. This novel approach to classify the literature could help researchers to assess the outcomes achieved in these two directions in view of potential practical implementations of consensus-based methodologies
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