Abstract
AbstractThis article studies a distributed affine dynamic formation control problem of multiple unicycle-type agents. The moving target formation can be generated from the given nominal formation according to the affine transformation. With the designed dynamic affine formation control method, the desired moving velocity can be time-varying and the heading directions can be all the same simultaneously. If only a subset of the agents know the information of the desired moving velocity, then the control method is modified into an estimator-based one. The proposed control methods using the relative position information can be executed in the local coordinate frame of each agent. The correctness is verified by both theoretical proofs and numerical simulations.KeywordsDynamic affine formation controlMulti-agent systemsUnicycle-type agentsUndirected graphs
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
