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Generalized formation control for unicycles
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.ORCID iD: 0000-0003-0177-1993
2015 (English)In: Chinese Control Conference, CCC, IEEE Computer Society, 2015, 7535-7540 p.Conference paper (Refereed)Text
Abstract [en]

This paper studies formation control of a group of unicycles, and proposes a distributed control law, depending only on the relative position and bearing angle of one nearby vehicle, to realize the circular formation and render more achievable general formations by designing the parameters in the control law. For circular formation, not only we can strictly prove that only two sets of equilibria are asymptotically stable, but also by choosing appropriate control parameters, determine the distances of two vehicles and the radius of the circle that all the unicycles converge to.

Place, publisher, year, edition, pages
IEEE Computer Society, 2015. 7535-7540 p.
Keyword [en]
circular formation, formation control, multi-agent systems, unicycle
National Category
Control Engineering
URN: urn:nbn:se:kth:diva-181501DOI: 10.1109/ChiCC.2015.7260834ScopusID: 2-s2.0-84946605451ISBN: 9789881563897OAI: diva2:902462
34th Chinese Control Conference, CCC 2015, 28 July 2015 through 30 July 2015

QC 20160211

Available from: 2016-02-11 Created: 2016-02-02 Last updated: 2016-02-11Bibliographically approved

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Dong, YiHu, Xiaoming
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