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“1-N” Leader-Follower Formation Control of Multiple Agents Based on Bearing-Only Observation

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Advances in Practical Applications of Agents, Multi-Agent Systems, and Sustainability: The PAAMS Collection (PAAMS 2015)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 9086))

Abstract

A formation control method is proposed for multiple agents of “1” leader and “N” follower where the following N-agents (as called followers) can only observe the bearing information of the leading 1-agent (as called the leader). It is proven that bearing-only observation meets the observability condition required for the “1-N” leader-follower formation system. The unscented Kalman filter is employed to estimate the relative position of the leader, based on which the input-output feedback control law is executed to control the real-time movement of the followers so that the “1-N” leader-followers formation is properly maintained. Simulation results demonstrate the effectiveness of our approach.

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Author information

Authors and Affiliations

  1. School of Mech. Eng., Northwestern Polytechnical University, Xi’an, 710072, China

    Qing Han, Tiancheng Li & Shudong Sun

  2. Faculty of Science, University of Salamanca, 37008, Salamanca, Spain

    Gabriel Villarrubia & Fernando de la Prieta

Authors
  1. Qing Han
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  2. Tiancheng Li
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  3. Shudong Sun
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  4. Gabriel Villarrubia
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  5. Fernando de la Prieta
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Corresponding author

Correspondence to Tiancheng Li .

Editor information

Editors and Affiliations

  1. Centre National de la Recherche Scientifique, Grenoble, France

    Yves Demazeau

  2. University of Delaware, Newark, Delaware, USA

    Keith S. Decker

  3. Universidad Politécnica, Madrid, Spain

    Javier Bajo Pérez

  4. Department of Computing Science, Universidad de Salamanca, Salamanca, Spain

    Fernando de la Prieta

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Han, Q., Li, T., Sun, S., Villarrubia, G., de la Prieta, F. (2015). “1-N” Leader-Follower Formation Control of Multiple Agents Based on Bearing-Only Observation. In: Demazeau, Y., Decker, K., Bajo Pérez, J., de la Prieta, F. (eds) Advances in Practical Applications of Agents, Multi-Agent Systems, and Sustainability: The PAAMS Collection. PAAMS 2015. Lecture Notes in Computer Science(), vol 9086. Springer, Cham. https://doi.org/10.1007/978-3-319-18944-4_10

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  • DOI: https://doi.org/10.1007/978-3-319-18944-4_10

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-18943-7

  • Online ISBN: 978-3-319-18944-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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