Formation Control by Hyo-Sung Ahn

Author:Hyo-Sung Ahn
Language: eng
Format: epub
ISBN: 9783030151874
Publisher: Springer International Publishing

6.3 Formation Control via Orientation Control

In the previous sections, the orientations of agents have been estimated up to a common rotation. Then, using these estimations, we can find orientations of agents with respect to a common frame. Since, in these approaches, we did not control the orientation of agents, the formation control is conducted in Euclidean spaces. It may be necessary to actively control the orientations of agents for some applications, which means that a formation control is conducted in space. As an example, an array of cameras mounted on mobile agents may need to control their directions toward a same direction. Motivated from this, in this section, by adopting the control scheme of [7], the orientation angles are further controlled such that the orientations are physically aligned to a common direction. Since the relative orientation angle can be obtained via communications between neighboring agents in which the relative bearing angles and are exchanged, the following orientation control law can be implemented in a distributed way:

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