Skip to main content
SpringerLink
Log in
Book cover

Chinese Intelligent Systems Conference

CISC 2016: Proceedings of 2016 Chinese Intelligent Systems Conference pp 361–370Cite as

Globally Exponentially Stable Triangle Formation Control of Multi-robot Systems

  • Conference paper
  • First Online:

  • 1017 Accesses

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 405))

Abstract

In this paper, the problem of formation control for nonholonomic robots is investigated. Based on the negative gradient method and the Lyapunov direct method, a globally and exponentially stable control scheme for multi-robot formation control system is designed. The proposed control law using the adaptive perturbation method can guarantee the globally exponential stability of the desired triangle and line formation, and the equilibrium set of the overall system is unique, which is exactly the desired formation set. Finally, some simulations illustrate the effectiveness and correctness of the proposed controllers.

This is a preview of subscription content, log in via an institution.

Chapter
USD   29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD   84.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD   109.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD   109.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Learn about institutional subscriptions

References

  1. Millan P, Orihuela L, Jurado I, Rodriguez F (2014) Rubio. Formation control of autonomous underwater vehicles subject to communication delays. IEEE Trans Control Syst Technol 22(2):770–777

    Article  Google Scholar 

  2. Bayezit I, Fidan B (2013) Distributed cohesive motion control of flight vehicle formations. IEEE Trans Ind Electron 60(12):5763–5772

    Article  Google Scholar 

  3. Fidan B, Gazi V, Zhai S, Cen N, Karatas E (2013) Single-view distance-estimation-based formation control of robotic swarms. IEEE Trans Ind Electron 60(12):5781–5791

    Article  Google Scholar 

  4. Wen W, Duan Z, Ren W, Chen G (2014) Distributed consensus of mufti-agent systems with general linear node dynamics and intermittent communications. Int J Robust Nonlinear Control 24(16):2438–2457

    Article  MathSciNet  MATH  Google Scholar 

  5. Coogan S, Arcak M (2012) Scaling the size of a formation using relative position feedback. Automatica 48(10):2677–2685

    Article  MathSciNet  MATH  Google Scholar 

  6. Oh KK, Ahn HS (2014) Distance-based undirected formations of single- and double-integrator modeled robots in n-dimensional space. Int J Robust Nonlinear Control 24(12):1809–1820

    Article  MathSciNet  MATH  Google Scholar 

  7. Belabbas MA, Mou S, Morse AS, Anderson BDO (2012) Robustness issues with undirected formations. In: Proceedings of the 51st IEEE conference on decision and control, pp 1445−1450

    Google Scholar 

  8. Anderson BDO, Yu C, Dasgupta S, Morse AS (2007) Control of a three-coleader formation in the plane. Syst Control Lett 56:573–578

    Article  MathSciNet  MATH  Google Scholar 

  9. Cao M, Yu C, Morse AS, Anderson BDO (2007) Controlling a triangular formation of mobile autonomous robots. In: Proceedings of the 46th IEEE conference on decision and control

    Google Scholar 

  10. Dimarogonas DV, Johansson KH (2008) On the stability of distance based formation control. In: 47th IEEE conference on decision and control, pp 1200–1205

    Google Scholar 

  11. Krick L, Broucke M, Francis B (2009) Stabilization of infinitesimally rigid formations of multi-robot networks. Int J Control 82(3):423–439

    Article  MathSciNet  MATH  Google Scholar 

  12. Cao M, Yu C, Anderson BDO (2011) Formation control using range-only measurements. Automatica 4:776–781

    Article  MathSciNet  MATH  Google Scholar 

  13. Tian YP, Wang Q (2013) Global stabilization of rigid formations in the plane. Automatica 49(5):1436–1441

    Article  MathSciNet  MATH  Google Scholar 

  14. Filippov A (1988) Differential equations with discontinuous right-hand sides. Kluwer, Norwell, MA

    Book  MATH  Google Scholar 

  15. Paden B, Sastry SS (1987) A calculus for computing Filippov’s differential inclusion with application to the variable structure control of robot manipulators. IEEE Trans Circuits Syst 34(1):73–82

    Article  MathSciNet  MATH  Google Scholar 

  16. Krstic M, Kanellakopoulos I, Kokotovic PV (1995) Nonlinear and adaptive control design. Wiley, New York

    MATH  Google Scholar 

Download references

Acknowledgments

This work is supported by National Nature Science Foundation under grants 61503329 and 61473249, the Natural Science Foundation of Jiangsu Province BK20140490, the Natural Science Foundation of the Jiangsu Higher Education Institutions of China under grant 14KJD120003.

Author information

Authors and Affiliations

  1. Department of Automation, College of Information Engineering, Yangzhou University, Yangzhou, 225127, China

    Qin Wang, Qingguang Hua & Zuwen Chen

Authors
  1. Qin Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Qingguang Hua
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Zuwen Chen
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Qin Wang .

Editor information

Editors and Affiliations

  1. Beihang University , Beijing, China

    Yingmin Jia

  2. Beijing University of Posts and Telecommunications, Beijing, China

    Junping Du

  3. University of Science and Technology Beijing, Beijing, China

    Weicun Zhang

  4. Tsinghua University , Beijing, China

    Hongbo Li

Rights and permissions

Reprints and permissions

Copyright information

© 2016 Springer Science+Business Media Singapore

About this paper

Cite this paper

Wang, Q., Hua, Q., Chen, Z. (2016). Globally Exponentially Stable Triangle Formation Control of Multi-robot Systems. In: Jia, Y., Du, J., Zhang, W., Li, H. (eds) Proceedings of 2016 Chinese Intelligent Systems Conference. CISC 2016. Lecture Notes in Electrical Engineering, vol 405. Springer, Singapore. https://doi.org/10.1007/978-981-10-2335-4_34

Download citation

  • DOI: https://doi.org/10.1007/978-981-10-2335-4_34

  • Published:

  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-2334-7

  • Online ISBN: 978-981-10-2335-4

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation