文章基本信息

标题：Angle formation of double integrator with bearing and velocity information
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作者：Ningbo Li ; Pablo Borja ; Arjan van der Schaft 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2021
卷号：54
期号：19
页码：217-222
DOI：10.1016/j.ifacol.2021.11.081
语种：English
出版社：Elsevier
摘要：AbstractThis paper proposes a passivity-based approach using bearing and velocity information for a triangular formation control with the interaction topology constrained by angles. The controller framework is designed using virtual couplings on the relative measurements related to the edges. The different measurements associated with the edges are mapped by the measurement Jacobian, which is calculated by the time-evolution of the measurement. To avoid unavailable distance measurements in the control law, an estimator is designed based on port-Hamiltonian theory using bearing and velocity measurements. The stability analysis of the closed-loop system is provided and simulations are performed to illustrate the effectiveness of the approach.
关键词：KeywordsAngle formationdouble integratorport-Hamiltoniandistance estimator