Maneuvering angle rigid formations with global convergence guarantees
Angle rigid multi-agent formations can simultaneously undergo translational, rotational, and scaling maneuvering, therefore combining the maneuvering capabilities of both distance and bearing rigid formations. However, maneuvering angle rigid formations in 2D or 3D with global convergence guarantees...
| Main Authors: | , , , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2023
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/170438 |
| _version_ | 1824453753883852800 |
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| author | Chen, Liangming Lin, Zhiyun De Marina, Hector Garcia Sun, Zhiyong Feroskhan, Mir |
| author2 | School of Mechanical and Aerospace Engineering |
| author_facet | School of Mechanical and Aerospace Engineering Chen, Liangming Lin, Zhiyun De Marina, Hector Garcia Sun, Zhiyong Feroskhan, Mir |
| author_sort | Chen, Liangming |
| collection | NTU |
| description | Angle rigid multi-agent formations can simultaneously undergo translational, rotational, and scaling maneuvering, therefore combining the maneuvering capabilities of both distance and bearing rigid formations. However, maneuvering angle rigid formations in 2D or 3D with global convergence guarantees is shown to be a challenging problem in the existing literature even when relative position measurements are available. Motivated by angle-induced linear equations in 2D triangles and 3D tetrahedra, this paper aims to solve this challenging problem in both 2D and 3D under a leader-follower framework. For the 2D case where the leaders have constant velocities, by using local relative position and velocity measurements, a formation maneuvering law is designed for the followers governed by double-integrator dynamics. When the leaders have time-varying velocities, a sliding mode formation maneuvering law is proposed by using the same measurements. For the 3D case, to establish an angle-induced linear equation for each tetrahedron, we assume that all the followers' coordinate frames share a common Z direction. Then, a formation maneuvering law is proposed for the followers to globally maneuver Z-weakly angle rigid formations in 3D. The extension to Lagrangian agent dynamics and the construction of the desired rigid formations by using the minimum number of angle constraints are also discussed. Simulation examples are provided to validate the effectiveness of the proposed algorithms. |
| first_indexed | 2025-02-19T03:11:26Z |
| format | Journal Article |
| id | ntu-10356/170438 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2025-02-19T03:11:26Z |
| publishDate | 2023 |
| record_format | dspace |
| spelling | ntu-10356/1704382023-09-12T04:49:10Z Maneuvering angle rigid formations with global convergence guarantees Chen, Liangming Lin, Zhiyun De Marina, Hector Garcia Sun, Zhiyong Feroskhan, Mir School of Mechanical and Aerospace Engineering Engineering::Mechanical engineering Angle Rigid Formations Formation Control Angle rigid multi-agent formations can simultaneously undergo translational, rotational, and scaling maneuvering, therefore combining the maneuvering capabilities of both distance and bearing rigid formations. However, maneuvering angle rigid formations in 2D or 3D with global convergence guarantees is shown to be a challenging problem in the existing literature even when relative position measurements are available. Motivated by angle-induced linear equations in 2D triangles and 3D tetrahedra, this paper aims to solve this challenging problem in both 2D and 3D under a leader-follower framework. For the 2D case where the leaders have constant velocities, by using local relative position and velocity measurements, a formation maneuvering law is designed for the followers governed by double-integrator dynamics. When the leaders have time-varying velocities, a sliding mode formation maneuvering law is proposed by using the same measurements. For the 3D case, to establish an angle-induced linear equation for each tetrahedron, we assume that all the followers' coordinate frames share a common Z direction. Then, a formation maneuvering law is proposed for the followers to globally maneuver Z-weakly angle rigid formations in 3D. The extension to Lagrangian agent dynamics and the construction of the desired rigid formations by using the minimum number of angle constraints are also discussed. Simulation examples are provided to validate the effectiveness of the proposed algorithms. The work of Z. Lin was supported by National Natural Science Foundation of China (62173118). The work of H. Garcia de Marina was supported by the Ramon y Cajal (RYC2020-030090-I) from the Spanish Ministry of Science. 2023-09-12T04:49:09Z 2023-09-12T04:49:09Z 2022 Journal Article Chen, L., Lin, Z., De Marina, H. G., Sun, Z. & Feroskhan, M. (2022). Maneuvering angle rigid formations with global convergence guarantees. IEEE/CAA Journal of Automatica Sinica, 9(8), 1464-1475. https://dx.doi.org/10.1109/JAS.2022.105749 2329-9266 https://hdl.handle.net/10356/170438 10.1109/JAS.2022.105749 2-s2.0-85135750370 8 9 1464 1475 en IEEE/CAA Journal of Automatica Sinica © 2022 Chinese Association of Automation. All rights reserved. |
| spellingShingle | Engineering::Mechanical engineering Angle Rigid Formations Formation Control Chen, Liangming Lin, Zhiyun De Marina, Hector Garcia Sun, Zhiyong Feroskhan, Mir Maneuvering angle rigid formations with global convergence guarantees |
| title | Maneuvering angle rigid formations with global convergence guarantees |
| title_full | Maneuvering angle rigid formations with global convergence guarantees |
| title_fullStr | Maneuvering angle rigid formations with global convergence guarantees |
| title_full_unstemmed | Maneuvering angle rigid formations with global convergence guarantees |
| title_short | Maneuvering angle rigid formations with global convergence guarantees |
| title_sort | maneuvering angle rigid formations with global convergence guarantees |
| topic | Engineering::Mechanical engineering Angle Rigid Formations Formation Control |
| url | https://hdl.handle.net/10356/170438 |
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