Formation Control in a Leader-Fixed Frame for Agents with Extended Unicycle Dynamics that Include Orientation Kinematics on SO(m)

Christopher Heintz, Jesse B. Hoagg

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

We present a formation control algorithm for agents with extended unicycle dynamics that include orientation kinematics on SO(m) and first-order speed dynamics. 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 a strongly connected directed graph. We assume that at least one agent has access to a measurement its position relative to the leader. The analytic result shows that for almost all initial conditions, the agents converge to the desired relative positions. We also present results from software-in-the-loop simulations with 3 fixed-wing unmanned air vehicles (UAVs) that demonstrate the leader-fixed formation-control algorithm.

Original languageEnglish
Title of host publication2019 IEEE 58th Conference on Decision and Control, CDC 2019
Pages8230-8235
Number of pages6
ISBN (Electronic)9781728113982
DOIs
StatePublished - Dec 2019
Event58th IEEE Conference on Decision and Control, CDC 2019 - Nice, France
Duration: Dec 11 2019Dec 13 2019

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume2019-December
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370

Conference

Conference58th IEEE Conference on Decision and Control, CDC 2019
Country/TerritoryFrance
CityNice
Period12/11/1912/13/19

Bibliographical note

Publisher Copyright:
© 2019 IEEE.

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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