Leader-Following Formation Control with Time-Varying Formations and Bounded Controls for Agents with Double-Integrator Dynamics

Zachary S. Lippay, Jesse B. Hoagg

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

3 Scopus citations

Abstract

We present a formation control algorithm for double-integrator agents, where the formation is time varying and the agents' controls satisfy a priori bounds (e.g., the controls accommodate actuator saturation). We assume that each agent has relative-position-and-velocity feedback of its neighbor agents, where the communication structure is a strongly connected graph, and at least one agent has a measurement of its position and velocity relative to the leader (if applicable). The main analytic results provide sufficient conditions such that all agents have a priori bounded controls and converge to the desired time-varying relative positions with one another and the leader. The results are global for an undirected communication structure, and local for the directed case. We also demonstrate the algorithm in rotorcraft experiments.

Original languageEnglish
Title of host publication2020 American Control Conference, ACC 2020
Pages871-876
Number of pages6
ISBN (Electronic)9781538682661
DOIs
StatePublished - Jul 2020
Event2020 American Control Conference, ACC 2020 - Denver, United States
Duration: Jul 1 2020Jul 3 2020

Publication series

NameProceedings of the American Control Conference
Volume2020-July
ISSN (Print)0743-1619

Conference

Conference2020 American Control Conference, ACC 2020
Country/TerritoryUnited States
CityDenver
Period7/1/207/3/20

Bibliographical note

Publisher Copyright:
© 2020 AACC.

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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