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 voor dit werk

Discrete Technologie en Productie Automatisering

Onderzoeksoutput › Academic › peer review

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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.

Originele taal-2	English
Pagina's (van-tot)	217-222
Tijdschrift	IFAC Proceedings Volumes (IFAC-PapersOnline)
Volume	54
Nummer van het tijdschrift	19
Vroegere onlinedatum	19-nov.-2021
DOI's	https://doi.org/10.1016/j.ifacol.2021.11.081
Status	Published - 2021
Evenement	7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (LHMNLC 2021) - Berlin , Germany Duur: 11-okt.-2021 → 13-okt.-2021

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10.1016/j.ifacol.2021.11.081Licentie: CC BY-NC-ND

Angle formation of double integrator with bearing and velocity informationFinal publisher's version, 403 KBLicentie: CC BY-NC-ND

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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",

language = "English",

volume = "54",

pages = "217--222",

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

issn = "1474-6670",

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note = "7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (LHMNLC 2021) ; Conference date: 11-10-2021 Through 13-10-2021",

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TY - JOUR

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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