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.
|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 U. S. Department of Agriculture (2018-67021-27416) and the National Aeronautics and Space Administration (NNX15AR69H) through the NASA Kentucky Space Grant.
© 2020 AACC.
ASJC Scopus subject areas
- Electrical and Electronic Engineering