Angle Formation of Double Integrator with Bearing and Velocity Information

Ningbo Li; Luis Pablo Borja; Arjan van der Schaft; Jacquelien M.A. Scherpen; Liangming Chen

doi:10.1016/j.ifacol.2021.11.081

Angle Formation of Double Integrator with Bearing and Velocity Information

Ningbo Li, Luis Pablo Borja, Arjan van der Schaft, Jacquelien M.A. Scherpen, Liangming Chen^*

^*Corresponding author for this work

Discrete Technology and Production Automation

Research output: Contribution to journal › Article › Academic › peer-review

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Abstract

This paper proposes a passivity-based approach using bearing and velocity information for a triangular formation control with the interaction topology constrained by angles. The controller framework is designed using virtual couplings on the relative measurements related to the edges. The different embedding of the graph is mapped by the measurement Jacobian, which is calculated by the time-evolution of the measurement. To avoid unavailable distance measurements in the control law. The stability analysis of the closed-loop system is provided and simulations are performed to illustrate the effectiveness of the approach.

Original language	English
Pages (from-to)	217-222
Journal	IFAC Proceedings Volumes (IFAC-PapersOnline)
Volume	54
Issue number	19
Early online date	19-Nov-2021
DOIs	https://doi.org/10.1016/j.ifacol.2021.11.081
Publication status	Published - 2021
Event	7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (LHMNLC 2021) - Berlin , Germany Duration: 11-Oct-2021 → 13-Oct-2021

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title = "Angle Formation of Double Integrator with Bearing and Velocity Information",

abstract = "This paper proposes a passivity-based approach using bearing and velocity information for a triangular formation control with the interaction topology constrained by angles. The controller framework is designed using virtual couplings on the relative measurements related to the edges. The different embedding of the graph is mapped by the measurement Jacobian, which is calculated by the time-evolution of the measurement. To avoid unavailable distance measurements in the control law. The stability analysis of the closed-loop system is provided and simulations are performed to illustrate the effectiveness of the approach.",

author = "Ningbo Li and Borja, {Luis Pablo} and {van der Schaft}, Arjan and Scherpen, {Jacquelien M.A.} and Liangming Chen",

year = "2021",

doi = "10.1016/j.ifacol.2021.11.081",

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pages = "217--222",

journal = "IFAC Proceedings Volumes (IFAC-PapersOnline)",

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T1 - Angle Formation of Double Integrator with Bearing and Velocity Information

AU - Li, Ningbo

AU - Borja, Luis Pablo

AU - van der Schaft, Arjan

AU - Scherpen, Jacquelien M.A.

AU - Chen, Liangming

PY - 2021

Y1 - 2021

N2 - This paper proposes a passivity-based approach using bearing and velocity information for a triangular formation control with the interaction topology constrained by angles. The controller framework is designed using virtual couplings on the relative measurements related to the edges. The different embedding of the graph is mapped by the measurement Jacobian, which is calculated by the time-evolution of the measurement. To avoid unavailable distance measurements in the control law. The stability analysis of the closed-loop system is provided and simulations are performed to illustrate the effectiveness of the approach.

AB - This paper proposes a passivity-based approach using bearing and velocity information for a triangular formation control with the interaction topology constrained by angles. The controller framework is designed using virtual couplings on the relative measurements related to the edges. The different embedding of the graph is mapped by the measurement Jacobian, which is calculated by the time-evolution of the measurement. To avoid unavailable distance measurements in the control law. The stability analysis of the closed-loop system is provided and simulations are performed to illustrate the effectiveness of the approach.

U2 - 10.1016/j.ifacol.2021.11.081

DO - 10.1016/j.ifacol.2021.11.081

M3 - Article

SN - 1474-6670

VL - 54

SP - 217

EP - 222

JO - IFAC Proceedings Volumes (IFAC-PapersOnline)

JF - IFAC Proceedings Volumes (IFAC-PapersOnline)

IS - 19

T2 - 7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (LHMNLC 2021)

Y2 - 11 October 2021 through 13 October 2021

ER -

Angle Formation of Double Integrator with Bearing and Velocity Information

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