Abstract
In this chapter, we consider coordination control of a group of UAV agents with constant and in general nonidentical speeds. The control input is designed to steer their orientations and the control objective is to achieve a desired formation configuration for all the agents subject to constant-speed constraints. Through a formation feasibility analysis by a three-agent example, we show that it is generally impossible to control and maintain a formation by constant-speed agents if target formation shapes are defined by agents’ actual positions. We then adopt a circular motion center as a virtual position for each agent to define the target formation shape. Two different formation design approaches, namely, a displacement-based approach and a distance-based approach, are discussed in detail to coordinate a group of constant-speed agents in achieving a target formation with stable circular motions via limited interactions.
G. S. Seyboth is now with Robert Bosch Automotive Steering GmbH.
Text and figures of this chapter were reproduced from Z. Sun and B.D.O. Anderson, Formation feasibility on coordination control of networked heterogeneous systems with drift terms, IEEE 55th Conference on Decision and Control (CDC), IEEE, 2016, 3462–3467. https://doi.org/10.1109/CDC.2016.7798788.
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Notes
- 1.
Section 2.3 of this chapter includes material reproduced with permission from Sun, Z., Anderson, B.D.O.: Formation feasibility on coordination control of networked heterogeneous systems with drift terms. In: Proc. of the 55th Conference on Decision and Control, pp. 3462–3467. IEEE 2016.
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Acknowledgements
This work was supported by the Australian Research Council under grant DP130103610 and DP160104500, and the DAAD-Go8 German–Australian Collaboration Project. Zhiyong Sun was supported by the Prime Minister’s Australia Asia Incoming Endeavour Postgraduate Award.
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Anderson, B.D.O., Sun, Z., Seyboth, G.S., Yu, C. (2018). Collective Formation Control of Multiple Constant-Speed UAVs with Limited Interactions. In: Tempo, R., Yurkovich, S., Misra, P. (eds) Emerging Applications of Control and Systems Theory. Lecture Notes in Control and Information Sciences - Proceedings. Springer, Cham. https://doi.org/10.1007/978-3-319-67068-3_2
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