Circular formation of networked dynamic unicycles by a distributed dynamic control law

Xiao Yu; Xiang Xu; Lu Liu; Gang Feng

doi:10.1016/j.automatica.2017.11.021

Author(s)

Detail(s)

Original language	English
Pages (from-to)	1-7
Journal / Publication	Automatica
Volume	89
Online published	15 Dec 2017
Publication status	Published - Mar 2018

Link(s)

DOI	DOI https://doi.org/10.1016/j.automatica.2017.11.021 Final Published version
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Link to Scopus	https://www.scopus.com/record/display.uri?eid=2-s2.0-85038036297&origin=recordpage
Permanent Link	https://scholars.cityu.edu.hk/en/publications/publication(1fa64ed0-dff4-4dc6-88e1-b56f745a76f0).html

Abstract

This paper investigates the circular formation control problem of networked dynamic unicycles. Each unicycle uses its local coordinate frame and the topology of the networked unicycles is modeled by a directed graph containing a spanning tree. A distributed dynamic control law is proposed for each unicycle based on the measurement via local sensing and the information of its neighbors via intermittent communication. It is shown that all unicycles can globally converge to the circular motion around a given center which is only known to one unicycle, and can globally converge to a desired spaced formation along the circle. Finally, simulation results of an example verify the effectiveness of the proposed control law.

Research Area(s)

Circular formation, Directed graph, Distributed control, Dynamic unicycles, Multi-agent systems

Citation Format(s)

[ RIS ] [ BibTeX ]

Circular formation of networked dynamic unicycles by a distributed dynamic control law. / Yu, Xiao; Xu, Xiang ; Liu, Lu et al.
In: Automatica, Vol. 89, 03.2018, p. 1-7.

Research output: Journal Publications and Reviews › RGC 21 - Publication in refereed journal › peer-review

Yu, X, Xu, X , Liu, L & Feng, G 2018, 'Circular formation of networked dynamic unicycles by a distributed dynamic control law', Automatica, vol. 89, pp. 1-7. https://doi.org/10.1016/j.automatica.2017.11.021

Yu, X., Xu, X., Liu, L., & Feng, G. (2018). Circular formation of networked dynamic unicycles by a distributed dynamic control law. Automatica, 89, 1-7. https://doi.org/10.1016/j.automatica.2017.11.021

Yu X, Xu X , Liu L , Feng G. Circular formation of networked dynamic unicycles by a distributed dynamic control law. Automatica. 2018 Mar;89:1-7. Epub 2017 Dec 15. doi: 10.1016/j.automatica.2017.11.021

Yu, Xiao ; Xu, Xiang ; Liu, Lu et al. / Circular formation of networked dynamic unicycles by a distributed dynamic control law. In: Automatica. 2018 ; Vol. 89. pp. 1-7.