A bondgraph approach to formation control using relative state measurements
Authors
Geoff Stacey, Robert Mahony, Peter Corke
Abstract
In this paper we apply port-Hamiltonian theory with the bondgraph modelling approach to the problem of formation control using partial measurements of relative positions. We present a control design that drives a group of vehicles to a desired formation without requiring inter-vehicle communications or global position and velocity measurements to be available. Our generic approach is applicable to any form of relative measurement between vehicles, but we specifically consider the important cases of relative bearings and relative distances. In the case of bearings, our theory closely relates to the field of image-based visual servo (IBVS) control. We present simulation results to support the developed theory.
Citation
- Journal: 2013 European Control Conference (ECC)
- Year: 2013
- Volume:
- Issue:
- Pages: 1262–1267
- Publisher: IEEE
- DOI: 10.23919/ecc.2013.6669484
BibTeX
@inproceedings{Stacey_2013,
title={{A bondgraph approach to formation control using relative state measurements}},
DOI={10.23919/ecc.2013.6669484},
booktitle={{2013 European Control Conference (ECC)}},
publisher={IEEE},
author={Stacey, Geoff and Mahony, Robert and Corke, Peter},
year={2013},
pages={1262--1267}
}