A port-Hamiltonian framework for displacement-based and rigid formation control

This thesis is devoted to passivity-based formation control for multi-agent systems. Generally, it aims to establish a port-Hamiltonian framework for the problems related to distributed formation control of multi-agent systems. Regarding the constraints of the formations, the displacement-based formation which is based on consensus theory, and rigid formations whose desired shapes are defined by distance, bearing, angle, or combinations of them are considered. Regarding the control objectives, formation stabilization and some maneuvers, such as velocity tracking, orientation, and scale control are investigated. Concerning the system dynamics, in addition to the double integrators with damping terms, the wheeled robot with nonholonomic constraints is also considered

Controlling a triangular flexible formation of autonomous agents

In formation control, triangular formations consisting of three autonomous agents serve as a class of benchmarks that can be used to test and compare the performances of different controllers. We present an algorithm that combines the advantages of both position- and distance-based gradient descent control laws. For example, only two pairs of neighboring agents need to be controlled, agents can work in their own local frame of coordinates and the orientation of the formation with respect to a global frame of coordinates is not prescribed. We first present a novel technique based on adding artificial biases to neighboring agents' range sensors such that their eventual positions correspond to a collinear configuration. Right after, a small modification in the bias terms by introducing a prescribed rotation matrix will allow the control of the bearing of the neighboring agents.Comment: 7 pages, accepted in the 20th World Congress of the International Federation of Automatic Control (IFAC

Distributed stabilization control of rigid formations with prescribed orientation

Most rigid formation controllers reported in the literature aim to only stabilize a rigid formation shape, while the formation orientation is not controlled. This paper studies the problem of controlling rigid formations with prescribed orientations in both 2-D and 3-D spaces. The proposed controllers involve the commonly-used gradient descent control for shape stabilization, and an additional term to control the directions of certain relative position vectors associated with certain chosen agents. In this control framework, we show the minimal number of agents which should have knowledge of a global coordinate system (2 agents for a 2-D rigid formation and 3 agents for a 3-D rigid formation), while all other agents do not require any global coordinate knowledge or any coordinate frame alignment to implement the proposed control. The exponential convergence to the desired rigid shape and formation orientation is also proved. Typical simulation examples are shown to support the analysis and performance of the proposed formation controllers.Comment: This paper was submitted to Automatica for publication. Compared to the submitted version, this arXiv version contains complete proofs, examples and remarks (some of them are removed in the submitted version due to space limit.

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

A Unified Dissertation on Bearing Rigidity Theory

This work focuses on the bearing rigidity theory, namely the branch of knowledge investigating the structural properties necessary for multi-element systems to preserve the inter-units bearings when exposed to deformations. The original contributions are twofold. The first one consists in the definition of a general framework for the statement of the principal definitions and results that are then particularized by evaluating the most studied metric spaces, providing a complete overview of the existing literature about the bearing rigidity theory. The second one rests on the determination of a necessary and sufficient condition guaranteeing the rigidity properties of a given multi-element system, independently of its metric space

Solar sail formation flying for deep-space remote sensing

In this paper we consider how 'near' term solar sails can be used in formation above the ecliptic plane to provide platforms for accurate and continuous remote sensing of the polar regions of the Earth. The dynamics of the solar sail elliptical restricted three-body problem (ERTBP) are exploited for formation flying by identifying a family of periodic orbits above the ecliptic plane. Moreover, we find a family of 1 year periodic orbits where each orbit corresponds to a unique solar sail orientation using a numerical continuation method. It is found through a number of example numerical simulations that this family of orbits can be used for solar sail formation flying. Furthermore, it is illustrated numerically that Solar Sails can provide stable formation keeping platforms that are robust to injection errors. In addition practical trajectories that pass close to the Earth and wind onto these periodic orbits above the ecliptic are identified

Position and Orientation Based Formation Control of Multiple Rigid Bodies with Collision Avoidance and Connectivity Maintenance

This paper addresses the problem of position- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in a $3$D workspace with obstacles. More specifically, we design a decentralized control protocol such that each agent achieves a predefined geometric formation with its initial neighbors, while using local information based on a limited sensing radius. The latter implies that the proposed scheme guarantees that the initially connected agents remain always connected. In addition, by introducing certain distance constraints, we guarantee inter-agent collision avoidance as well as collision avoidance with the obstacles and the boundary of the workspace. The proposed controllers employ a novel class of potential functions and do not require a priori knowledge of the dynamical model, except for gravity-related terms. Finally, simulation results verify the validity of the proposed framework

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

Electromagnetic Formation Flying with Eccentric Reference Orbits

Over the last decade, a considerable amount of research work has been done in the area of spacecraft formation flight, with particular emphasis on control techniques using thruster-based systems. Nevertheless, thrusters require propellant to work and this limit the lifetime of the mission. Electromagnetic Formation Flight (EMFF) is presented in this paper as a fuel-less strategy to control spacecraft formations by means of electromagnets. In EMFF, spacecraft can be equipped with one or more coils and reactions wheels which could be arranged in several combinations according to mission requirements. An electric current flows through the coils in order to produce a magnetic dipole in a specific direction. The magnetic field of a spacecraft reacts against the magnetic dipoles of the others, generating forces and torques which in turn could be used as control inputs. The main objective of this paper is to provide a formulation for EMFF when a formation is moving in eccentric reference orbits and for this purpose, the Tschauner and Hempel model will be used. Results are presented after analysing different formation scenarios providing the necessary magnetic requirements for station keeping and resolving which cases are suitable to be controlled by this technology. High-Temperature Semiconductor (HTS) plays an important role in EMFF and for that reason the paper also investigates the correlation of the magnetic force and the coil mass, which in turn affects the total mass of the spacecraft