Angle-Based Formation Control for a Class of Underlying Triangulated Laman Graphs: Extended abstract

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

Angle-Based Formation Control for a Class of Underlying Triangulated Laman Graphs: Extended abstract

Ningbo Li, Pablo Borja, Arjan van der Schaft, Jacquelien M.A. Scherpen

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

Abstract

This extended abstract proposes a passivity-based approach using bearing and velocity information for an angle-based formation control with a class of underlying triangulated Laman graphs. The controller 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. Furthermore, to avoid unavailable distance measurements in the control law, an estimator is designed based on the port-Hamiltonian theory using bearing and velocity measurements. The stability analysis of the closed-loop system is provided and simulations are performed to illustrate the effectiveness of the approach.

Original language	English
Title of host publication	Proceedings of the 25th International Symposium on Mathematical Theory of Networks and Systems (MTNS 2022)
Publisher	IFAC
Publication status	Submitted - 2022
Event	25th International Symposium on Mathematical Theory of Networks and Systems: MTNS 2022 - University of Bayreuth, Bayreuth, Germany Duration: 12-Sept-2022 → 16-Sept-2022 https://www.mtns2022.uni-bayreuth.de/en/index.html

Publication series

Name	IFAC- PapersOnLine
Publisher	IFAC
ISSN (Electronic)	2405-8963

Conference

Conference	25th International Symposium on Mathematical Theory of Networks and Systems
Abbreviated title	MTNS 2022
Country/Territory	Germany
City	Bayreuth
Period	12/09/2022 → 16/09/2022
Internet address	https://www.mtns2022.uni-bayreuth.de/en/index.html

Keywords

Networked Control Systems, Port-Hamiltonian Systems, Nonlinear Systems and Control

Handle.net

Persistent link

Cite this

@inproceedings{34ba835543f445afb147376fea6edeb3,

title = "Angle-Based Formation Control for a Class of Underlying Triangulated Laman Graphs: Extended abstract",

abstract = "This extended abstract proposes a passivity-based approach using bearing and velocity information for an angle-based formation control with a class of underlying triangulated Laman graphs. The controller 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. Furthermore, to avoid unavailable distance measurements in the control law, an estimator is designed based on the port-Hamiltonian theory using bearing and velocity measurements. The stability analysis of the closed-loop system is provided and simulations are performed to illustrate the effectiveness of the approach. ",

keywords = "Networked Control Systems, Port-Hamiltonian Systems, Nonlinear Systems and Control",

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

year = "2022",

language = "English",

series = "IFAC- PapersOnLine",

publisher = "IFAC",

booktitle = "Proceedings of the 25th International Symposium on Mathematical Theory of Networks and Systems (MTNS 2022)",

note = "25th International Symposium on<br/>Mathematical Theory of Networks and Systems : MTNS 2022, MTNS 2022 ; Conference date: 12-09-2022 Through 16-09-2022",

url = "https://www.mtns2022.uni-bayreuth.de/en/index.html",

}

Li, N, Borja, P, van der Schaft, A & Scherpen, JMA 2022, Angle-Based Formation Control for a Class of Underlying Triangulated Laman Graphs: Extended abstract. in Proceedings of the 25th International Symposium on Mathematical Theory of Networks and Systems (MTNS 2022). IFAC- PapersOnLine, IFAC, 25th International Symposium on
Mathematical Theory of Networks and Systems, Bayreuth, Germany, 12/09/2022.

Angle-Based Formation Control for a Class of Underlying Triangulated Laman Graphs: Extended abstract. / Li, Ningbo; Borja, Pablo ; van der Schaft, Arjan et al.
Proceedings of the 25th International Symposium on Mathematical Theory of Networks and Systems (MTNS 2022). IFAC, 2022. (IFAC- PapersOnLine).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - Angle-Based Formation Control for a Class of Underlying Triangulated Laman Graphs

T2 - 25th International Symposium on<br/>Mathematical Theory of Networks and Systems

AU - Li, Ningbo

AU - Borja, Pablo

AU - van der Schaft, Arjan

AU - Scherpen, Jacquelien M.A.

PY - 2022

Y1 - 2022

N2 - This extended abstract proposes a passivity-based approach using bearing and velocity information for an angle-based formation control with a class of underlying triangulated Laman graphs. The controller 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. Furthermore, to avoid unavailable distance measurements in the control law, an estimator is designed based on the port-Hamiltonian theory using bearing and velocity measurements. The stability analysis of the closed-loop system is provided and simulations are performed to illustrate the effectiveness of the approach.

AB - This extended abstract proposes a passivity-based approach using bearing and velocity information for an angle-based formation control with a class of underlying triangulated Laman graphs. The controller 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. Furthermore, to avoid unavailable distance measurements in the control law, an estimator is designed based on the port-Hamiltonian theory using bearing and velocity measurements. The stability analysis of the closed-loop system is provided and simulations are performed to illustrate the effectiveness of the approach.

KW - Networked Control Systems, Port-Hamiltonian Systems, Nonlinear Systems and Control

M3 - Conference contribution

T3 - IFAC- PapersOnLine

BT - Proceedings of the 25th International Symposium on Mathematical Theory of Networks and Systems (MTNS 2022)

PB - IFAC

Y2 - 12 September 2022 through 16 September 2022

ER -