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 |
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| 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 |
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| Publisher | IFAC |
| ISSN (Electronic) | 2405-8963 |
Conference
| Conference | 25th International Symposium on Mathematical Theory of Networks and Systems |
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| Abbreviated title | MTNS 2022 |
| Country/Territory | Germany |
| City | Bayreuth |
| Period | 12/09/2022 → 16/09/2022 |
| Internet address |
Keywords
- Networked Control Systems, Port-Hamiltonian Systems, Nonlinear Systems and Control