Regular Papers

International Journal of Control, Automation and Systems 2021; 19(5): 1740-1750

Published online February 18, 2021

https://doi.org/10.1007/s12555-020-0274-3

© The International Journal of Control, Automation, and Systems

Controlling Dynamic Formations of Mobile Agents Governed by Euler-Lagrange Dynamics

Liangming Chen, Qingkai Yang, Chuanjiang Li, and Guangfu Ma

Harbin Institute of Technology

Abstract

This paper studies the problem of controlling dynamic formations of mobile agents governed by EulerLagrange dynamics. Here a formation is said to be dynamic if as time evolves, the desired formation undergoes translation, scaling and rotation. First, a constant-gain formation control algorithm is designed such that all agents can converge to the desired dynamic formation, in which the graphic information is needed for the selection of constant gains. Then, another fully distributed formation control algorithm is further proposed by employing variablegain control techniques, which enables each agent to be independent of the knowledge of the overall interaction graph needed otherwise in the control gain. Instead of moving with a desired translational velocity, a centroid-tracking formation control algorithm is also proposed such that the centroid of the formation tracks a desired trajectory. The parametric uncertainties are taken into consideration in the proposed formation control algorithms. Finally, simulation examples are provided to validate the effectiveness of the proposed control algorithms.

Keywords Euler-Lagrange system, formation control, mobile robots, multi-agent systems, multi-robot systems.

Article

Regular Papers

International Journal of Control, Automation and Systems 2021; 19(5): 1740-1750

Published online May 1, 2021 https://doi.org/10.1007/s12555-020-0274-3

Copyright © The International Journal of Control, Automation, and Systems.

Controlling Dynamic Formations of Mobile Agents Governed by Euler-Lagrange Dynamics

Liangming Chen, Qingkai Yang, Chuanjiang Li, and Guangfu Ma

Harbin Institute of Technology

Abstract

This paper studies the problem of controlling dynamic formations of mobile agents governed by EulerLagrange dynamics. Here a formation is said to be dynamic if as time evolves, the desired formation undergoes translation, scaling and rotation. First, a constant-gain formation control algorithm is designed such that all agents can converge to the desired dynamic formation, in which the graphic information is needed for the selection of constant gains. Then, another fully distributed formation control algorithm is further proposed by employing variablegain control techniques, which enables each agent to be independent of the knowledge of the overall interaction graph needed otherwise in the control gain. Instead of moving with a desired translational velocity, a centroid-tracking formation control algorithm is also proposed such that the centroid of the formation tracks a desired trajectory. The parametric uncertainties are taken into consideration in the proposed formation control algorithms. Finally, simulation examples are provided to validate the effectiveness of the proposed control algorithms.

Keywords: Euler-Lagrange system, formation control, mobile robots, multi-agent systems, multi-robot systems.

IJCAS
June 2024

Vol. 22, No. 6, pp. 1761~2054

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