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Distributed Formation Control based on Orientation Alignment and Position Estimation

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  • Control Theory and Applications
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Abstract

Formation control is studied for single-and double-integrators on the plane based on orientation alignment and position estimation. It is assumed that agents measure the relative positions of their neighbors with respect to their own local body-fixed reference frames without any common sense of orientation. The proposed control strategy consists of an orientation alignment, a position estimation, and a position control law. It is shown that the proposed control strategy allows the agents to achieve the desired formation if the interaction graph is uniformly connected and the orientation angles belong to an interval with arc length less than π.

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Author information

Authors and Affiliations

  1. EV Components and Materials R&D Group, Korea Institute of Industrial Technology, Gwangju, Korea

    Kwang-Kyo Oh

  2. School of Mechanical Engineering, Gwangju Institute of Science and Technology, Gwangju, Korea

    Hyo-Sung Ahn

Authors
  1. Kwang-Kyo Oh
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  2. Hyo-Sung Ahn
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Corresponding author

Correspondence to Kwang-Kyo Oh.

Additional information

Recommended by Associate Editor Hongyi Li under the direction of Editor Yoshito Ohta. Kwang-Kyo Oh was supported by the Korea Institute of Industrial Technology under the project No. EO180020. Hyo-Sung Ahn was supported by the National Research Foundation (NRF) of Korea under the grant NRF-2016M1B3A1A01937575.

Kwang-Kyo Oh received the Ph.D. degree in mechatronics from Gwangju Institute of Science and Technology, Gwangju, Korea, in 2013. He is with Korea Institute of Industrial Technology, Gwangju, Korea. His research interests are in the areas of control theory and applications with emphasis on cooperative control of multi-agent systems.

Hyo-Sung Ahn received the B.S. and M.S. degrees in astronomy from Yonsei University, Seoul, Korea, in 1998 and 2000, respectively, the M.S. degree in electrical engineering from the University of North Dakota, Grand Forks, in 2003, and the Ph.D. degree in electrical engineering from Utah State University, Logan, in 2006. Since July 2007, he has been with the School of Mechatronics, Gwangju Institute of Science and Technology (GIST), Gwangju, Korea. He is currently Professor and Dasan Professor. Before joining GIST, he was a Senior Researcher with the Electronics and Telecommunications Research Institute, Daejeon, Korea. He is the author of the research monograph Iterative Learning Control: Robustness and Monotonic Convergence for Interval Systems (Springer-Verlag, 2007). His research interests include distributed control, learning control, network localization, and autonomous navigation systems.

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Oh, KK., Ahn, HS. Distributed Formation Control based on Orientation Alignment and Position Estimation. Int. J. Control Autom. Syst. 16, 1112–1119 (2018). https://doi.org/10.1007/s12555-017-0280-2

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  • DOI: https://doi.org/10.1007/s12555-017-0280-2

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