Control of triangle formations with a mix of angle and distance constraints

Bishop, AN; Summers, TH; Anderson, BDO

Control of triangle formations with a mix of angle and distance constraints

Bishop, AN

Summers, TH Anderson, BDO

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Publication Type:: Conference Proceeding
Citation:: Proceedings of the IEEE International Conference on Control Applications, 2012, pp. 825 - 830
Issue Date:: 2012-12-01

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Field	Value	Language
dc.contributor.author	Bishop, AN https://orcid.org/0000-0001-8581-8562	en_US
dc.contributor.author	Summers, TH	en_US
dc.contributor.author	Anderson, BDO	en_US
dc.date.issued	2012-12-01	en_US
dc.identifier.citation	Proceedings of the IEEE International Conference on Control Applications, 2012, pp. 825 - 830	en_US
dc.identifier.isbn	9781467345033	en_US
dc.identifier.uri	http://hdl.handle.net/10453/120632
dc.description.abstract	A distributed control law for triangular formation control with a mixture of bearing and range measurements and relative pair-wise inter-agent angle constraints and a single range constraint is introduced. The control law is weak in the sense that two agents are free to choose their own heading within a relatively large range of values. Indeed, the agents can determine their heading independently at run-time given any criteria they desire as long as certain relaxed conditions are met. A convergence result is established that ensures the desired formation configuration is asymptotically stable. Illustrative examples are provided to demonstrate the claims. © 2012 IEEE.	en_US
dc.relation.ispartof	Proceedings of the IEEE International Conference on Control Applications	en_US
dc.relation.isbasedon	10.1109/CCA.2012.6402365	en_US
dc.rights	info:eu-repo/semantics/closedAccess
dc.title	Control of triangle formations with a mix of angle and distance constraints	en_US
dc.type	Conference Proceeding
utslib.for	0906 Electrical and Electronic Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Biomedical Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CHT - Health Technologies
utslib.copyright.status	closed_access	*
pubs.publication-status	Published	en_US

Abstract:

A distributed control law for triangular formation control with a mixture of bearing and range measurements and relative pair-wise inter-agent angle constraints and a single range constraint is introduced. The control law is weak in the sense that two agents are free to choose their own heading within a relatively large range of values. Indeed, the agents can determine their heading independently at run-time given any criteria they desire as long as certain relaxed conditions are met. A convergence result is established that ensures the desired formation configuration is asymptotically stable. Illustrative examples are provided to demonstrate the claims. © 2012 IEEE.

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http://hdl.handle.net/10453/120632