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Preliminary Background

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Book cover Formation Control

Part of the book series: Studies in Systems, Decision and Control ((SSDC,volume 205))

Abstract

The formation control in distributed agent systems uses relative information for sensings and control including distances, angles, and relative displacements. Since the relative sensing measurements are used for controlling the behaviors of agents, it is essentially different from the traditional control methodologies and traditional decentralized control schemes that use states defined with respect to a global coordinate frame. This chapter provides the motivations for distributed formation control and basic mathematical concepts and definitions. To formulate the distributed formation control, it is first required to distinguish the global coordinate frame and distributed local coordinate frames. The distributed formation control laws are defined in distributed local coordinate frames. The distributed systems can be characterized by some attributes such as sensings, communications, computation, and control. This chapter explains the physical meaning of distributed sensings, distributed communications, distributed computation, and distributed control. Then, the key technical issues studied in the distributed formation control are outlined in this chapter.

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Authors and Affiliations

  1. School of Mechanical Engineering, Gwangju Institute of Science and Technology, Buk-gu, Gwangju, Korea (Republic of)

    Hyo-Sung Ahn

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  1. Hyo-Sung Ahn
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Correspondence to Hyo-Sung Ahn .

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Ahn, HS. (2020). Preliminary Background. In: Formation Control. Studies in Systems, Decision and Control, vol 205. Springer, Cham. https://doi.org/10.1007/978-3-030-15187-4_1

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