Maneuvering Angle Rigid Formations With Global Convergence Guarantees  

作　　者：Liangming Chen Zhiyun Lin Hector Garcia de Marina Zhiyong Sun Mir Feroskhan 

机构地区：[1]School of Mechanical and Aerospace Engineering,Nanyang Technological University,Singapore 639798,Singapore [2]Department of Computer Architecture and Technology,and also with CITIC,University of Granada,18014 Granada,Spain [3]Department of Electrical Engineering,Eindhoven University of Technology,5600 MB Eindhoven,the Netherlands

出　　处：《IEEE/CAA Journal of Automatica Sinica》2022年第8期1464-1475,共12页自动化学报（英文版）

基　　金：supported by National Natural Science Foundation of China(62173118);supported by the Ramon y Cajal(RYC2020-030090-I)from the Spanish Ministry of Science。

摘　　要：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 and3D 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.

关 键 词：Index Terms—Angle rigid formations formation control formation maneuvering global convergence multi-agent systems 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]