Control of Formation Configuration Using Leader-Follower Structure

Abstract

In this paper, we study cooperative control problems with trajectory tracking and reconfigurable formation for a multi-vehicle system expressed as a first-order system. Specifically, we describe a problem that cooperatively controlled vehicles keep geometric configuration among the multiple vehicles while the vehicles are moving in formation. In other words, each of the vehicles must change its position individually to keep the geometric configuration while the vehicle is moved by a cooperative control. In order to achieve this objective, we basically extend our previous result which was a control algorithm to surround a moving target by a group of vehicles cooperatively. The algorithm was based on a consensus algorithm which was cooperative control. In addition, we apply a leader-follower structure to our cooperative algorithm so that a leader can individually provide each of the followers with commands. Finally, the proposed approach is validated by some simulations.

Formation control of a second-order UAVs system under switching topology with obstacle/collision avoidance

“…Clearly, we can see that V is a semidefinite function. Substituting (20) into (21), the time derivative of function V is given bẏ…”

“…If and only ifζ i = 0, ∀i, thenV = 0. According to Lyapunov's second method for stability, the system described by (20) is uniformly stable [28]. Considering a set…”

“…In addition, a more general approach for formation control is proposed by Ren [19]. The typical approaches for formation control based on consensus algorithm: leader-follower [20], behavior-based [21], and virtual structure/virtual leader [22] can be regarded as special cases in [19].…”

A Leader-follower formation control of mobile robots by position-based visual servo method using fisheye camera

“…To realize the formation control of mobile robots, it is necessary to measure the relative distance between robots, the velocity, the attitude angle, etc. In recent years, researches have been conducted to realize formation by regarding mobile robots as multi-agents and considering the formation of a specific formation by exchanging information among agents through a network as an inter-agent consensus problem [4,5]. These studies assume the existence of network communication that enables information exchange between robots.…”