We present a formation-control algorithm for agents with extended unicycle dynamics that include orientation kinematics on SO(m), first-order speed dynamics, and a hard constraint on speed. The desired interagent positions are expressed in a leader-fixed coordinate frame, which is aligned with and rotates with the leader's velocity vector. Thus, the desired interagent positions vary in time as the leader-fixed frame rotates. We assume that each agent has relative-position feedback of its neighbor agents, where the neighbor sets are such that the interagent communication (i.e., feedback) structure represents an undirected and connected graph. We also assume that at least one agent has access to a measurement its position relative to the leader. The analytic result shows that the agents converge to the desired relative positions with the other agents and the leader, and we provide sufficient conditions to ensure that each agent's speed satisfies the speed constraints. We also present an experiment with 3 fixed-wing unmanned air vehicles (UAVs) that demonstrates the leader-fixed formation-control algorithm.
|Title of host publication||2020 American Control Conference, ACC 2020|
|Number of pages||6|
|State||Published - Jul 2020|
|Event||2020 American Control Conference, ACC 2020 - Denver, United States|
Duration: Jul 1 2020 → Jul 3 2020
|Name||Proceedings of the American Control Conference|
|Conference||2020 American Control Conference, ACC 2020|
|Period||7/1/20 → 7/3/20|
Bibliographical noteFunding Information:
This work is supported in part by the National Science Foundation (CNS-1932105, OIA-1539070) and the National Aeronautics and Space Administration (NNX15AR69H) through the NASA Kentucky Space Grant.
© 2020 AACC.
ASJC Scopus subject areas
- Electrical and Electronic Engineering