Bearing-Constrained Formation Tracking Control of Nonholonomic Agents Without Inter-Agent Communication
This letter presents two bearing-constrained formation tracking control protocols for multiple nonholonomic agents based respectively on the bearing vectors and displacements between the agents. The desired formation pattern of the system is specified by the desired inter-agent bearing vectors. In t...
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| Veröffentlicht in: | IEEE control systems letters 2022, Vol.6, p.2401-2406 |
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| creator | Van Tran, Quoc Kim, Jinwhan |
| description | This letter presents two bearing-constrained formation tracking control protocols for multiple nonholonomic agents based respectively on the bearing vectors and displacements between the agents. The desired formation pattern of the system is specified by the desired inter-agent bearing vectors. In the proposed control schemes, there are two or more leaders moving with the same constant velocity; the other follower agents do not have the information of the leaders' velocity nor communicate variables with their neighbors. Under both the proposed control laws, the system achieves the moving target formation asymptotically. Simulation results are provided to support the theoretical development. |
| doi_str_mv | 10.1109/LCSYS.2022.3159128 |
| format | Article |
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The desired formation pattern of the system is specified by the desired inter-agent bearing vectors. In the proposed control schemes, there are two or more leaders moving with the same constant velocity; the other follower agents do not have the information of the leaders' velocity nor communicate variables with their neighbors. Under both the proposed control laws, the system achieves the moving target formation asymptotically. 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The desired formation pattern of the system is specified by the desired inter-agent bearing vectors. In the proposed control schemes, there are two or more leaders moving with the same constant velocity; the other follower agents do not have the information of the leaders' velocity nor communicate variables with their neighbors. Under both the proposed control laws, the system achieves the moving target formation asymptotically. Simulation results are provided to support the theoretical development.</description><subject>agents-based systems</subject><subject>Distributed control</subject><subject>networked control systems</subject><subject>nonholonomic systems</subject><subject>Observers</subject><subject>Optical sensors</subject><subject>Optical variables measurement</subject><subject>Protocols</subject><subject>Sensor arrays</subject><subject>Target tracking</subject><subject>Trajectory</subject><issn>2475-1456</issn><issn>2475-1456</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2022</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNpNkMtKAzEYhYMoWGpfQDd5gam5Z2ZZB6uFootWxNWQZDJttJNIki58e6cXxNV_-A_fWXwA3GI0xRhV98t69bGaEkTIlGJeYVJegBFhkheYcXH5L1-DSUqfCCFcEolINQKbB6ui85uiDj7lqJy3LZyH2KvsgofrqMzXUMOhzjHsYOjgS_DbsAs-9M7A2cb6nOC7y9uwz3Dhs43F8Tkgfb_3zhyXbsBVp3bJTs53DN7mj-v6uVi-Pi3q2bIwRMhcKKtLLKlUWmtmqZUCadlVpWSdIIQLU3LJNROCUo1Ja3nLWIvbTrXccKYRHQNy2jUxpBRt13xH16v402DUHGw1R1vNwVZztjVAdyfIWWv_gEpSynBJfwHdjmhY</recordid><startdate>2022</startdate><enddate>2022</enddate><creator>Van Tran, Quoc</creator><creator>Kim, Jinwhan</creator><general>IEEE</general><scope>97E</scope><scope>RIA</scope><scope>RIE</scope><scope>AAYXX</scope><scope>CITATION</scope><orcidid>https://orcid.org/0000-0002-7962-0338</orcidid><orcidid>https://orcid.org/0000-0001-6886-2449</orcidid></search><sort><creationdate>2022</creationdate><title>Bearing-Constrained Formation Tracking Control of Nonholonomic Agents Without Inter-Agent Communication</title><author>Van Tran, Quoc ; Kim, Jinwhan</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c267t-aeb81737abbb4e3e760b7f9874f62256c8575b46633b12de5d44d1dfad5c54b03</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2022</creationdate><topic>agents-based systems</topic><topic>Distributed control</topic><topic>networked control systems</topic><topic>nonholonomic systems</topic><topic>Observers</topic><topic>Optical sensors</topic><topic>Optical variables measurement</topic><topic>Protocols</topic><topic>Sensor arrays</topic><topic>Target tracking</topic><topic>Trajectory</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Van Tran, Quoc</creatorcontrib><creatorcontrib>Kim, Jinwhan</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005-present</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE Electronic Library (IEL)</collection><collection>CrossRef</collection><jtitle>IEEE control systems letters</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Van Tran, Quoc</au><au>Kim, Jinwhan</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Bearing-Constrained Formation Tracking Control of Nonholonomic Agents Without Inter-Agent Communication</atitle><jtitle>IEEE control systems letters</jtitle><stitle>LCSYS</stitle><date>2022</date><risdate>2022</risdate><volume>6</volume><spage>2401</spage><epage>2406</epage><pages>2401-2406</pages><issn>2475-1456</issn><eissn>2475-1456</eissn><coden>ICSLBO</coden><abstract>This letter presents two bearing-constrained formation tracking control protocols for multiple nonholonomic agents based respectively on the bearing vectors and displacements between the agents. 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| subjects | agents-based systems Distributed control networked control systems nonholonomic systems Observers Optical sensors Optical variables measurement Protocols Sensor arrays Target tracking Trajectory |
| title | Bearing-Constrained Formation Tracking Control of Nonholonomic Agents Without Inter-Agent Communication |
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