Decentralized control of parallel rigid formations with direction constraints and bearing measurements
Decentralized control of parallel rigid formations with direction constraints and bearing measurements
复制标题
DOI：
10.1109/cdc.2012.6426034
复制
发表时间：
2012-12
期刊：
影响因子：
--
通讯作者：
A. Franchi;P. Giordano
中科院分区：
文献类型：
--
作者：
A. Franchi;P. Giordano
本文分析了可伸缩性、极小性和刚性之间的关系，以及它们在协同控制中的应用。作为一个案例研究，我们提出了一个分布式控制策略，稳定与轴承（方向）约束描述的形成，只需要轴承测量和平行刚性的相互作用图，解决了多智能体形成控制的问题。我们还考虑了有不同的图形建模的交互网络的可能性，以明确考虑到传感，通信，控制和存储在网络中的参数之间的概念差异。然后，我们展示了如何可以“移动”的信息从一个图到另一个利用分散估计，提供了并行刚性属性。最后，我们提出了模拟的例子，以显示在一些说明性的情况下，理论分析的有效性。
In this paper we analyze the relationship between scalability, minimality and rigidity, and its application to cooperative control. As a case study, we address the problem of multi-agent formation control by proposing a distributed control strategy that stabilizes a formation described with bearing (direction) constraints, and that only requires bearing measurements and parallel rigidity of the interaction graph. We also consider the possibility of having different graphs modeling the interaction network in order to explicitly take into account the conceptual difference between sensing, communication, control, and parameters stored in the network. We then show how the information can be ‘moved’ from a graph to another making use of decentralized estimation, provided the parallel rigidity property. Finally we present simulative examples in order to show the validity of the theoretical analysis in some illustrative cases.