Formation Control and Network Localization via Orientation Alignment
Formation Control and Network Localization via Orientation Alignment
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DOI：
10.1109/tac.2013.2272972
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发表时间：
2014-02
影响因子：
6.8
通讯作者：
Kwang‐Kyo Oh;H. Ahn
中科院分区：
文献类型：
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作者：
Kwang‐Kyo Oh;H. Ahn
我们提出了一种基于智能体间位移的编队控制策略，用于平面上的单积分建模智能体。由于代理的本地参考系的方向不对齐，由于缺乏一个共同的方向感，所提出的策略包括一个方向对齐法和形成控制法。在所提出的策略下，如果交互图是一致连通的，且所有初始方向角都属于一个长度小于π的区间，则方向是指数对齐的，编队指数收敛到期望编队.我们还表明，所提出的策略可以用于网络本地化作为一个双重问题。
We propose a formation control strategy based on inter-agent displacements for single-integrator modeled agents in the plane. Since the orientations of the local reference frames of the agents are not aligned with each other due to the absence of a common sense of orientation, the proposed strategy consists of an orientation alignment law and a formation control law. Under the proposed strategy, if the interaction graph is uniformly connected and all the initial orientation angles belong to an interval with length less than π, the orientations are exponentially aligned and the formation exponentially converges to the desired formation. We also show that the proposed strategy can be utilized for network localization as a dual problem.