Maneuvering and Robustness Issues in Undirected Displacement-Consensus-Based Formation Control

DOI10.1109/TAC.2020.3019780zbMATH Open1467.93283arXiv2008.03544OpenAlexW3081465300MaRDI QIDQ5002154FDOQ5002154

Authors: Hector Garcia de Marina 

Publication date: 26 July 2021

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Abstract: In this paper, we first propose a novel maneuvering technique compatible with displacement-consensus-based formation controllers. We show that the formation can be translated with an arbitrary velocity by modifying the weights in the consensus Laplacian matrix. In fact, we demonstrate that the displacement-consensus-based formation control is a particular case of our more general method. We then uncover robustness issues with undesired steady-state motions and resultant distorted shapes in undirected displacement-consensus-based formation control. In particular, these issues are triggered when neighboring agents mismeasure their relative positions, e.g., their onboard sensors are misaligned and have different scale factors. We will show that if all the sensing is close to perfect but different among the agents, then the stability of the system is compromised. Explicit expressions for the eventual non-desired velocity and shape's distortion are given as functions of the scale factors and misalignments for formations based on tree graphs.

Full work available at URL: https://arxiv.org/abs/2008.03544

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Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Consensus (93D50)

Cited In (3)

• Control and navigation in manoeuvres of formations of unmanned mobile vehicles
• Reply to the discussions on: ``Control and navigation in manoeuvres of formations of unmanned mobile vehicles
• Discussion on: ``Control and navigation in manoeuvres of formations of unmanned mobile vehicles

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