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Spherical cyclic formation control
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Mathematical Statistics.
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.).
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2016 (English)In: Chinese Control Conference, CCC, IEEE Computer Society, 2016, 8207-8212 p.Conference paper (Refereed)
Abstract [en]

In this paper, we study the problem of tracking and encircling a moving target by agents in 3D. Specifically, a group of agents are driven to some desired formation on a spherical surface and simultaneously keep the center of this spherical formation coinciding with the target to be tracked. In our control design, the desired formation is not used as a reference signal for tracking. Rather by designing communication topology for the agents we can achieve the desired formation using relative positions only. We can also place the desired cyclic formation on the equator if the north pole is specified.

Place, publisher, year, edition, pages
IEEE Computer Society, 2016. 8207-8212 p.
Keyword [en]
encircling control, formation control, Multi-agent systems, nonlinear feedback control
National Category
URN: urn:nbn:se:kth:diva-194928DOI: 10.1109/ChiCC.2016.7554663ScopusID: 2-s2.0-84987899171ISBN: 9789881563910OAI: diva2:1050482
35th Chinese Control Conference, CCC 2016, 27 July 2016 through 29 July 2016

QC 20161129

Available from: 2016-11-29 Created: 2016-11-01 Last updated: 2016-11-29Bibliographically approved

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Zhang, SilunSong, WenjunHu, Xiaoming
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Mathematical StatisticsMathematics (Dept.)

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