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

doi:10.1109/CDC40024.2019.9029431

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

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-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 language	English
Title of host publication	2019 IEEE 58th Conference on Decision and Control, CDC 2019
Pages	8230-8235
Number of pages	6
ISBN (Electronic)	9781728113982
DOIs	https://doi.org/10.1109/CDC40024.2019.9029431
State	Published - Dec 2019
Event	58th IEEE Conference on Decision and Control, CDC 2019 - Nice, France Duration: Dec 11 2019 → Dec 13 2019

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
Volume	2019-December
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	58th IEEE Conference on Decision and Control, CDC 2019
Country/Territory	France
City	Nice
Period	12/11/19 → 12/13/19

Bibliographical note

Funding Information:
This work is supported in part by the National Science Foundation (OIA-1539070) and the National Aeronautics and Space Administration (NNX15AR69H) through the NASA Kentucky Space Grant.

Publisher Copyright:
© 2019 IEEE.

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

Access to Document

10.1109/CDC40024.2019.9029431

Cite this

Heintz, C., & Hoagg, J. B. (2019). Formation Control in a Leader-Fixed Frame for Agents with Extended Unicycle Dynamics that Include Orientation Kinematics on SO(m). In 2019 IEEE 58th Conference on Decision and Control, CDC 2019 (pp. 8230-8235). [9029431] (Proceedings of the IEEE Conference on Decision and Control; Vol. 2019-December). https://doi.org/10.1109/CDC40024.2019.9029431

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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.",

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note = "Funding Information: This work is supported in part by the National Science Foundation (OIA-1539070) and the National Aeronautics and Space Administration (NNX15AR69H) through the NASA Kentucky Space Grant. Publisher Copyright: {\textcopyright} 2019 IEEE.; null ; Conference date: 11-12-2019 Through 13-12-2019",

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Heintz, C & Hoagg, JB 2019, Formation Control in a Leader-Fixed Frame for Agents with Extended Unicycle Dynamics that Include Orientation Kinematics on SO(m). in 2019 IEEE 58th Conference on Decision and Control, CDC 2019., 9029431, Proceedings of the IEEE Conference on Decision and Control, vol. 2019-December, pp. 8230-8235, 58th IEEE Conference on Decision and Control, CDC 2019, Nice, France, 12/11/19. https://doi.org/10.1109/CDC40024.2019.9029431

Formation Control in a Leader-Fixed Frame for Agents with Extended Unicycle Dynamics that Include Orientation Kinematics on SO(m). / Heintz, Christopher; Hoagg, Jesse B.

2019 IEEE 58th Conference on Decision and Control, CDC 2019. 2019. p. 8230-8235 9029431 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2019-December).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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

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