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.
|Title of host publication||2019 IEEE 58th Conference on Decision and Control, CDC 2019|
|Number of pages||6|
|State||Published - Dec 2019|
|Event||58th IEEE Conference on Decision and Control, CDC 2019 - Nice, France|
Duration: Dec 11 2019 → Dec 13 2019
|Name||Proceedings of the IEEE Conference on Decision and Control|
|Conference||58th IEEE Conference on Decision and Control, CDC 2019|
|Period||12/11/19 → 12/13/19|
Bibliographical noteFunding 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.
© 2019 IEEE.
ASJC Scopus subject areas
- Control and Systems Engineering
- Modeling and Simulation
- Control and Optimization