Formation Control in a Leader-Fixed Frame for Agents with Extended Unicycle Dynamics that Include Orientation Kinematics on SO(m)
Formation Control in a Leader-Fixed Frame for Agents with Extended Unicycle Dynamics that Include Orientation Kinematics on SO(m)
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DOI：
10.1109/cdc40024.2019.9029431
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发表时间：
2019-12
期刊：
影响因子：
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通讯作者：
C. Heintz;Jesse B. Hoagg
中科院分区：
文献类型：
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作者：
C. Heintz;Jesse B. Hoagg
提出了一种具有扩展单轮动力学的智能体编队控制算法，该算法包括SO(M)上的定向运动学和一阶速度动力学。所需的代理间位置在引导者固定的坐标系中表示，该坐标系与引导者的速度向量对齐并旋转。因此，当导向固定的框架旋转时，所需的代理间位置随时间变化。我们假设每个代理都有其邻居代理的相对位置反馈，其中邻居集是这样的，即代理间通信(即反馈)结构表示一个强连通有向图。我们假设至少有一个代理可以访问其相对于领导者的位置的测量。分析结果表明，在几乎所有初始条件下，智能体都收敛到期望的相对位置。我们还给出了3架固定翼无人机的软件在环仿真结果，验证了领袖固定编队控制算法的有效性。
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.