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Formation Tracking of Heterogeneous Mobile Agents Using Distance and Area Constraints

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  • E. G. Hernandez-Martinez
  • E. D. Ferreira-Vazquez
  • G. Fernandez-Anaya
  • J. J. Flores-Godoy

Abstract

This paper presents two formation tracking control strategies for a combined set of single and double integrator agents with an arbitrary undirected communication topology. The first approach is based on the design of distance-based potential functions with interagent collision avoidance using local information about the distance and orientation between agents and the desired trajectory. The second approach adds signed area constraints to the desired formation specification and a control strategy that uses distance as well as area terms is designed to achieve tracking convergence. Numerical simulations show the performance from both control laws.

Suggested Citation

  • E. G. Hernandez-Martinez & E. D. Ferreira-Vazquez & G. Fernandez-Anaya & J. J. Flores-Godoy, 2017. "Formation Tracking of Heterogeneous Mobile Agents Using Distance and Area Constraints," Complexity, Hindawi, vol. 2017, pages 1-13, September.
    • Handle: RePEc:hin:complx:9404193
    DOI: 10.1155/2017/9404193
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    References listed on IDEAS

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    1. Junwei Wang & Kairui Chen & Yun Zhang, 2017. "Consensus of High-Order Nonlinear Multiagent Systems with Constrained Switching Topologies," Complexity, Hindawi, vol. 2017, pages 1-11, January.
    2. Yilun Shang & Yamei Ye, 2017. "Leader-Follower Fixed-Time Group Consensus Control of Multiagent Systems under Directed Topology," Complexity, Hindawi, vol. 2017, pages 1-9, March.
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    Cited by:

    1. Zhengquan Yang & Qing Zhang & Zengqiang Chen, 2019. "Formation Control of Multi-Agent Systems with Region Constraint," Complexity, Hindawi, vol. 2019, pages 1-6, December.
    2. Víctor San Juan & Matilde Santos & José Manuel Andújar, 2018. "Intelligent UAV Map Generation and Discrete Path Planning for Search and Rescue Operations," Complexity, Hindawi, vol. 2018, pages 1-17, April.

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