A New Orthogonal Control Law for Shaping Acyclic Triangle Formations

Author(s): Hengsheng Wang, Zimin Lu, Musheng Xie, Tao Luo, Renquan Wang.

Journal Name: International Journal of Sensors, Wireless Communications and Control

Volume 2 , Issue 2 , 2012

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A new orthogonal control law is proposed in this paper which is applied to the agent with two co-leaders in an acyclic triangle formation, while the other agents still using gradient-like control law; the dynamical system with the control laws assigned like this with the intention of forming a prescribed acyclic triangle formation approaches to its desired edge lengths starting from any point except initially agent 1 being in the same place with agent 2 and/or agent 3 . The orientation of triangle is also concerned, and the only stable formation with desired edge lengths is positively oriented while the formation with desired lengths and negative orientation is unstable. The stable properties related with orientations swap over if the sign (negative or positive) in the orthogonal control law is changed. A simulation result shows the convergent process of forming a given acyclic triangle formation.

Keywords: Acyclic triangle formation, autonomous agents, distributed control, formation control, multi agents, orthogonal control law.

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Article Details

Year: 2012
Page: [109 - 116]
Pages: 8
DOI: 10.2174/2210327911202020109
Price: $58