Adaptive distance-based formation control

被引：0

作者：

Minh Hoang Trinh ^{[1
]}

Thanh Truong Nguyen ^{[2
]}

Sun, Zhiyong ^{[3
]}

机构：

[1] Hanoi Univ Sci & Technol HUST, Sch Elect & Elect Engn, Hanoi, Vietnam

[2] Viettel High Technol Ind Corp, Unmanned Aerial Vehicle Ctr, Hanoi, Vietnam

[3] Eindhoven Univ Technol TU E, Dept Elect Engn, Eindhoven, Netherlands

来源：

2022 17TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV) | 2022年

关键词：

EXPONENTIAL STABILITY;

D O I：

10.1109/ICARCV57592.2022.10004231

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper studies the distance-based formation control problem where agents in the system are modeled with single-integrators with parametric uncertainties. We propose to use adaptive control as the main tool to approach the problem. Under the assumption that only local displacements are available, an adaptive distance-based control law is proposed and analysed. If additionally, each agent can sense its local position, we propose using an additional observer to estimate the uncertain parameters and stabilize the desired formation. Simulation results are also given to support the theoretical results.

引用

页码：746 / 751

页数：6

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