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access icon free Distributed formation control of the special Euclidean group SE(2) via global orientation control

  • Author(s): Jae-Gyeong Lee 1 ; Minh Hoang Trinh 2 ; Hyo-Sung Ahn 1 ; Byung-Hun Lee 3
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  • Source: Volume 14, Issue 10, 02 July 2020, p. 1393 – 1399
    DOI:  10.1049/iet-cta.2019.1285 , Print ISSN 1751-8644, Online ISSN 1751-8652
© The Institution of Engineering and Technology
Received 14/11/2019, Accepted 05/03/2020, Revised 30/01/2020, Published 06/03/2020

The authors propose fully distributed strategies for multi-agent formation control of the two-dimensional special Euclidean group. To control the rotated local reference frames, they firstly estimate the orientation angle of each agent with regard to a global reference frame. By using only local measurements, the orientation angle is estimated in a distributed way. The estimated orientation is, then, exploited to control each agent's orientation. Each agent's orientation converges to the prescribed desired orientation. Finally, a distributed formation control strategy based on displacement measurement is proposed to achieve the desired formation shape of the two-dimensional special Euclidean group. Under the proposed strategy, the authors ensure that the formation shape including position and orientation exponentially converges to the desired formation shape. Moreover, the formation shape is invariant to a translation and a rotation compared with the desired formation shape.

Inspec keywords: multi-robot systems; position control; multi-agent systems; mobile robots; motion control; distributed control

Other keywords: global reference frame; orientation angle; local measurements; distributed formation control strategy; rotated local reference frames; global orientation control; formation shape; two-dimensional special Euclidean group; estimated orientation; multiagent formation control

Subjects: Mobile robots; Combinatorial mathematics; Spatial variables control; Multivariable control systems

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