Formation control using binary information

Jafarian, Matin; Persis, Claudio De

doi:10.1016/j.automatica.2014.12.016

Cited by 44 publications

(46 citation statements)

References 32 publications

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“…Note that most of the existing results on coordination control with binary relative information are only applicable for first-order systems with no dynamic uncertainties or disturbances (Chen et al, 2011De Persis et al, 2011;Hui et al, 2010;Jafarian & De Persis, 2015). However, practical multi-agent systems are usually modelled by second-order systems and dynamic uncertainties or disturbances are ubiquitous in realistic control design.…”

Section: Introductionmentioning

confidence: 97%

“…The algorithm used only binary relative state information and sufficient conditions were provided which guaranteed that all the agents would converge to the average of the reference signals in finite time. In Jafarian and De Persis (2015), the authors studied the formation control problem of passive multi-agent systems using only binary relative position measurements. It was shown that exact achievement of the desired formation was still possible with the very coarse relative information.…”

Section: Introductionmentioning

confidence: 99%

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Leader-following control of perturbed second-order integrator systems with binary relative information

Wang

2016

International Journal of Systems Science

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In this paper, we study the leader-following control problem for second-order integrator systems with bounded input disturbances using only binary relative position and velocity information. The leader is allowed to be dynamically evolving with a bounded acceleration which is unknown to any of the followers. With the proposed distributed controller, we prove that despite the fact that only very coarse relative information is available, robust finite-time leader-following control can be achieved by properly choosing the control gains. As an extension, robust finite-time formation control can also be achieved with the proposed control strategy using only binary relative information. Two simulation examples are provided to illustrate the results.

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Section: Introductionmentioning

confidence: 97%

Section: Introductionmentioning

confidence: 99%

Leader-following control of perturbed second-order integrator systems with binary relative information

Wang

2016

International Journal of Systems Science

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“…In fact, the real‐world constraints, that is, communication and information constrains, in implementation of coordination algorithms have motivated the use of a specific class of nonsmooth controllers that are based on quantized and coarse information, for example, binary and ternary controllers. For instance, papers have studied binary information and control in consensus and formation‐keeping problems for a group of continuous‐time dynamical systems including single/double integrators and strictly passive systems. A rendezvous problem for Dubins cars based on a ternary feedback has been studied in .…”

Section: Introductionmentioning

confidence: 99%

“…In this regard, different approaches have been pursued in the literature to deal with disturbances for some classes of dynamical systems. In particular, the role of internal model principle has been studied in coordination problems in order to reject input disturbances of incrementally passive systems and strictly passive systems with binary controllers . An internal model‐based design has been used to reject matched input disturbances for a group of wheeled robots controlled by smooth controllers in a port‐Hamiltonian framework .…”

Section: Introductionmentioning

confidence: 99%

“…Our design, which is motivated by real‐world constraints in coordination problems, is based on simple control commands. Recent literature in this line of research (e.g., ) has mainly introduced binary controllers for the position coordination of other classes of dynamic agents and shown exact convergence to the desired formations. This paper uses ternary controllers for unicycles.…”

Section: Introductionmentioning

confidence: 99%

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Robust consensus of unicycles using ternary and hybrid controllers

Jafarian

2017

Intl J Robust & Nonlinear

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Summary This paper presents consensus of the orientations and average positions for a group of unicycles using ternary and hybrid controllers. The decentralized controllers designed to reach consensus of the average positions take only values in the set {−1,0,+1}. In addition, a hybrid controller is introduced to control the orientations. Finite‐time practical consensus of the average positions is proven despite the simple ternary control laws together with asymptotic consensus of the orientations. Furthermore, the consensus problem is studied in the presence of matched input disturbances that are locally rejected using an internal‐model‐based controller. The analysis is performed in a hybrid framework. Simulation results illustrate the effectiveness of the design. Copyright © 2017 John Wiley & Sons, Ltd.

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Finite time distributed distance‐constrained shape stabilization and flocking control for d‐dimensional undirected rigid formations

Sun

Mou

Deghat

et al. 2015

Intl J Robust & Nonlinear

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Most of the existing results on distributed distance-constrained rigid formation control establish asymptotic or exponential convergence. To further improve the convergence rate, we explain in this paper how to modify existing gradient controllers to obtain finite time stability. For point agents modeled by single integrators, the controllers proposed in this paper drive the whole formation to locally converge to a desired shape with finite settling time. We also show for undirected triangular formation shape control, if all the agents start with non-collinear positions, then the formation will converge to the desired shape in finite time. For agents modeled by double integrators, the proposed controllers allow all agents to both achieve the same velocity and reach a desired shape in finite time. All controllers are totally distributed. Simulations are also provided to validate the proposed control strategies. FINITE TIME SHAPE STABILIZATION AND FLOCKING CONTROL 2825 the displacement-based formation system. Along this direction, several recent papers [4,5,[10][11][12][13] have studied distance-constrained rigid formation control for different formation shapes, all with asymptotic convergence (or sometimes exponential convergence) to the desired shape (irrespective of the orientation or absolute position of the formation). We note that there exist other approaches to achieve formation stabilization, such as the complex-Laplacian-based approach proposed in [14] and the orientation-alignment-based approach discussed in [15]. They differ from the rigidity-based approach in underlying graph requirement, control objective, and sensing/communication requirement for each individual agent. We refer readers to [3] for a detailed comparison on different approaches for formation control.One objective of this paper is to design closed-loop controllers to stabilize rigid formation shapes with a finite settling time, that is, to bring a formation with incorrect distances to one with the correct distances in a finite time, at least for a neighborhood of initial conditions around the correct formation. Suppose that a formation is traveling in a particular direction and it needs to adjust the formation shape perhaps by shrinking to avoid an obstacle. Then one wants to achieve the formation adjustment in a limited time-before arriving at the obstacle. Actually, finite time convergence also brings about many benefits, which include not only a faster convergence rate but also improved disturbance rejection and robustness properties [16,17]. Because of these favorable properties, recent years have witnessed increasing efforts on finite time convergence control for networked and distributed systems because the convergence time is always a critical factor for such systems. This motivates the current work on formation control of networked agents with a finite convergence time. We note that finite time formation control using different measurements/control strategies has been reported in, for example, [18] and [19]. In [18], the control s...

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Formation control using binary information

Cited by 44 publications

References 32 publications

Leader-following control of perturbed second-order integrator systems with binary relative information

Leader-following control of perturbed second-order integrator systems with binary relative information

Robust consensus of unicycles using ternary and hybrid controllers

Finite time distributed distance‐constrained shape stabilization and flocking control for d‐dimensional undirected rigid formations

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